The ADVIO dataset is a versatile real-world dataset for developing and benchmarking visual-inertial odometry methods. Details and download links: github.com/AaltoVision/ADVIO
This video shows the ground-truth track for data set #16 (captured in one of the two office buildings). The visualized track is the ground-truth track calculated from the entire IMU data sequence. The fix points used for track calculation are visualized by dots. The track on the current floor shows in red. The video has been sped-up.