We provide several types of sequences for evaluating visual odometry, global place recognition, and map-based re-localization tracking algorithms:

• Office Loop : A loop around an industrial area of the city.
• Highway : A loop on the A9 highway in the north part of Munich.
• Neighborhood : Traversal through a regular neighborhood at the outskirts of the city covering detached houses with gardens and trees in the street.
• Business Campus : Several loops around a campus in a business area around the city.
• Countryside : Rural area around agricultural fields which exhibits very homogeneous and repetitive structures. The scene shows heavy vegetation.
• City Loop : A large-scale loop at a ring road within the city of Munich including a tunnel.
• Old Town : Loop around the urban city center with tall buildings, much traffic, and dynamic objects.
• Maximilianeum : The Maximilianeum is a famous palatial building in Munich which is located at the eastern end of a royal avenue with paving stones and a tram route.
• Parking Garage : A multi-level (three levels) parking garage to benchmark combined indoor/outdoor environments.

All sequences have been processed to have:

• consistent timestamps for camera, IMU, and reference poses
• raw RTK-GNSS measurements
• distorted/undistorted stereo images

The calibration folder contains intrinsics and extrinsics of our sensors.

calibration/calib_0.txt

Intrinsic parameters of the left camera. Camera model, fx, fy, cx, cy, distortion coefficients.

calibration/calib_1.txt

Intrinsic parameters of the right camera. Camera model, fx, fy, cx, cy, distortion coefficients.

calibration/calib_stereo.txt

A 4x4 matrix denoting the rigid transformation from the right to the left camera.

calibration/undistorted_calib_0.txt

Intrinsic parameters of the left camera. Camera model, fx, fy, cx, cy, distortion coefficients.

calibration/undistorted_calib_1.txt

Intrinsic parameters of the right camera. Camera model, fx, fy, cx, cy, distortion coefficients.

calibration/undistorted_calib_stereo.txt

A 4x4 matrix denoting the rigid transformation from the right to the left camera.

calibration/camchain.yaml

Intrinsics and extrinsics for both cameras together in .yaml format.

Download calibration: calibration.zip (3KB)

We provide calibration sequences for camera and IMU calibration.

camera_plus_imu_calibration.zip (1.8GB)

md5_checksums.txt