VINS-RGBD Dataset

Paper

Zeyong Shan, Ruijian Li, Sören Schwertfeger, "RGBD-Inertial Trajectory Estimation and Mapping for Ground Robots",  Sensors, 2019  PDF

Source code

VINS-RGBD on github: https://github.com/STAR-Center/VINS-RGBD

Datasets:

• Handheld
• Wheeled
• Tracked

Video: