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The Visual–Inertial Canoe Dataset

Miller, Martin and Chung, Soon-Jo and Hutchinson, Seth (2018) The Visual–Inertial Canoe Dataset. International Journal of Robotics Research, 37 (1). pp. 13-20. ISSN 0278-3649.

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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:

Item Type:Article
Related URLs:
URLURL TypeDescription ItemDataset
Miller, Martin0000-0003-3520-4946
Chung, Soon-Jo0000-0002-6657-3907
Hutchinson, Seth0000-0002-3949-6061
Additional Information:© The Author(s) 2017. The work in this article was supported by the Office of Naval Research (grant number N00014-14-1-0265).
Funding AgencyGrant Number
Office of Naval Research (ONR)N00014-14-1-0265
Subject Keywords:SLAM, dataset, stereo, inertial, IMU, monocular, vision, localization, mapping, robotics
Issue or Number:1
Record Number:CaltechAUTHORS:20180706-132152402
Persistent URL:
Official Citation:The Visual–Inertial Canoe Dataset Martin Miller, Soon-Jo Chung, and Seth Hutchinson The International Journal of Robotics Research Vol 37, Issue 1, pp. 13 - 20 First Published January 30, 2018
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:87602
Deposited By: George Porter
Deposited On:06 Jul 2018 20:44
Last Modified:03 Oct 2019 19:57

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