%0 Journal Article
%T The Visual¨CInertial Canoe Dataset
%A Martin Miller
%A Seth Hutchinson
%A Soon-Jo Chung
%J The International Journal of Robotics Research
%@ 1741-3176
%D 2018
%R 10.1177/0278364917751842
%X We present a dataset collected from a canoe along the Sangamon River in Illinois. The canoe was equipped with a stereo camera, an inertial measurement unit (IMU), and a global positioning system (GPS) device, which provide visual data suitable for stereo or monocular applications, inertial measurements, and position data for ground truth. We recorded a canoe trip up and down the river for 44 minutes covering a 2.7 km round trip. The dataset adds to those previously recorded in unstructured environments and is unique in that it is recorded on a river, which provides its own set of challenges and constraints that are described in this paper. The dataset is stored on the Illinois Data Bank and can be accessed at: https://doi.org/10.13012/B2IDB-9342111_V1
%K SLAM
%K dataset
%K stereo
%K inertial
%K IMU
%K monocular
%K vision
%K localization
%K mapping
%K robotics
%U https://journals.sagepub.com/doi/full/10.1177/0278364917751842