license:mit arxiv:2411.19289 region:us
---
license: mit
---

# GMS-VINS Real-World Experiment Dataset

## Introduction

The real-world experiment data used in [GMS-VINS](https://arxiv.org/abs/2411.19289), contains various sensors data for SLAM alorithm evaluation.

## Details 

The ``WHU_Campus.bag`` dataset is a large scale outdoor VIO dataset collected in campus environment with a wide range of dynamic objects such as pedestrains, cars, bus, and motorcycle.

The Dataset was recorded in rosbag format, the data structure is :
```
Topics:
 *  /Odometry
   - Type:       nav_msgs/Odometry
   - Frequency:  10.001225621693028
   - Count:      9708
 *  /cam0/image_raw
   - Type:       sensor_msgs/Image
   - Frequency:  29.381547147870798
   - Count:      21294
 *  /imu0
   - Type:       sensor_msgs/Imu
   - Frequency:  204.7700043938876
   - Count:      194212
```