UMA-VI Dataset (The UMA-VI dataset: Visual--inertial odometry in low-textured and dynamic illumination environments)

The dataset contains 32 sequences for the evaluation of VI motion estimation methods, totalling ∼80 min of data. The dataset covers challenging conditions (mainly illumination changes and low textured environments) in different degrees and a wide rage of scenarios (including corridors, parking, classrooms, halls, etc.) from two different buildings at the University of Malaga. In general, we provide at least two different sequences within the same scenario, with different illumination conditions or following different trajectories. All sequences were recorded with our VI sensor handheld, except a few that were recorded while mounted in a car.