imu orientation data is missing

montefiore-institute / midair-dataset

Example and utiliy scripts for the Mid-Air dataset

MIT License

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imu orientation data is missing #2

Closed YifeiAI closed 5 years ago

YifeiAI commented 5 years ago

Hi,

The imu data only contains linear acceleration and angular velocity. Is it possible to get orientation information?

Also in the ground truth, what is the 'attitude' data? is it the ground truth camera orientation?

Many thanks!

michael-fonder commented 5 years ago

Hi,

Thank you for your interest in the dataset!

For now, the IMU dataset contains simulated measurements only for an accelerometer and a gyroscope. The 'attitude' data is the ground truth orientation of the drone (expressed with quaternions). From this information, you can compute the orientation of the camera since it is rigidly attached to the drone. Details about the sensors positioning and frames of reference can be found here.