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Introduction

A brief introduction of the WVU-RED-OF-DataSet1, which is collected using Phastball UAV platform for vision-aided inertial navigation researches. The details of the data collection can be found in the authors' paper presented in ACC 2013, entitled with a comparison study of optical flow and tradional sensors in UAV navigation. Please reference our paper if you use our data. The overall file structure for each subfolder can be summarized as the following:

building grass_river road_river_car road_river_pond_grassland road_river_runway_building road_river_runwy_building

Dataset

video Video-Air-Red-05272011.avi, an aerial video file collected by Phastball UAV;	GPSINSLog Video-Air-Red-05272011.avi, the aerial video file collected by Phastball UAV;	Matlab basic MATLAB script to show how to extract frames from video and how to plot the telemetry;
The video is collected by GoPro Hero camera in r5 mode (1920*1080 pixs). The GoPro Hero camera is installed on a Phastball UAV with a cruise speed of about 30 m/s. https://mega.nz/#!isRCgTyK!DxKa-eDTZHeFbg9DGX5cPVgIHLv2LuxlfTHP-lbHZc0	GPSINSLog is synchrolized manually with the video file (29.97 Hz). Video-Air-Red-05272011.avi contains 10648 frames and GPSINSLog is aligned with the first 10600 frames manually. https://www.dropbox.com/s/flbdo2eeygd5q33/GPSINSRange_30Hz.mat?dl=0	https://www.dropbox.com/s/mwuaz2znrgqrtr7/plot_frame.m?dl=0	https://www.dropbox.com/s/wom3c55fl6w9pcz/Plot_nav_sensors.m?dl=0

CamCalib

The GoPro camera is calibrated using Camera calibration toolbox for MATLAB(Link) The calibration file can be downloaded using the following link: https://www.dropbox.com/s/xg51m1093ztz77y/GoProHero_r5_Calib.mat?dl=0

Paper

https://www.dropbox.com/sh/jnpqepgcf8n3b1n/AABZnRBNX_yS7X3wi5NT20wca?dl=0