KARI drone vertical takeoff and landing navigation dataset

<p>Dataset for testing visual-inertial navigation under constant velocity, and obstacle detection with LiDAR.</p> <p>Data was collected in the field by a custom-built hexacopter mounting the following sensors.<br>Rostopics are given in parentheses:</p> <ul> <li>Nadir-pointing RealSense d455 payload (visual-inertial odometry): 10 Hz RGB camera frames (/camera/color/image_raw), 200 Hz IMU data (/camera/imu)</li> <li>RTK GNSS (groundtruth): position, velocity, attitude quaternions &nbsp;(/mavros/global_position/local)</li> <li>Nadir-pointing Livox Avia scanning LiDAR payload (safe landing site detection, only available during landing): pointcloud (/livox/lidar)</li> <li>Nadir-pointing doppler radar altimeter: altitude (/sensor_data)</li> </ul> <p><a href="https://github.com/dirkpitt2050/open_vins">https://github.com/dirkpitt2050/open_vins</a> contains an example config, kari_vtol, that shows how to use the dataset.</p>