OIVIO

It consists of 36 sequences, recorded in mines, tunnels, and other dark environments, totaling more than 145 minutes of stereo camera video and IMU data. In each sequence, the scene is illuminated by an onboard light of approximately 1350, 4500, or 9000 lumens. We accommodate both direct and indirect VIO methods by providing the geometric and photometric camera calibrations. The full dataset, including sensor data, calibration sequences, and evaluation scripts can be downloaded here.