ZJU - SenseTime VISLAM Benchmark


We provide a visual-inertial dataset as well as a series of evaluation criteria for AR.


Ground truth data is obtained from a VICON motion capture system. It provides 6D pose measurements of the phone at 400Hz. The body frame of the phone is determined from a set of special markers. The phone is rigidly attached to a marker object for VICON localization.


Here are the device characteristics:

Xiaomi Mi8
  • Camera: 640x480 at 30fps, rolling shutter
  • IMU: 400Hz
iPhone X
  • Camera: 640x480 at 30fps, rolling shutter
  • IMU: 100Hz


If you are using this dataset for research, please cite the following publication (article link) :

  title   = {Survey and Evaluation of Monocular Visual-Inertial SLAM Algorithms for Augmented Reality},
  author  = {Jinyu Li, Bangbang Yang, Danpeng Chen, Nan Wang, Guofeng Zhang*, Hujun Bao*},
  journal = {Journal of Virtual Reality & Intelligent Hardware},
  year    = {2019},
  volume  = {1},
  number  = {4},
  pages   = {386-410},
  url     = {http://www.vr-ih.com/vrih/html/EN/10.3724/SP.J.2096-5796.2018.0011/article.html},
  doi     = {10.3724/SP.J.2096-5796.2018.0011}