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ADVIO: An authentic dataset for visual-inertial odometry

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review


Original languageEnglish
Title of host publicationComputer Vision – ECCV 2018 - 15th European Conference, 2018, Proceedings
PublisherSpringer Verlag
Number of pages16
ISBN (Print)9783030012489
Publication statusPublished - 2018
Publication typeA4 Article in a conference publication
EventEuropean Conference on Computer Vision - Munich, Germany
Duration: 8 Sep 201814 Sep 2018

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume11214 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


ConferenceEuropean Conference on Computer Vision


The lack of realistic and open benchmarking datasets for pedestrian visual-inertial odometry has made it hard to pinpoint differences in published methods. Existing datasets either lack a full six degree-of-freedom ground-truth or are limited to small spaces with optical tracking systems. We take advantage of advances in pure inertial navigation, and develop a set of versatile and challenging real-world computer vision benchmark sets for visual-inertial odometry. For this purpose, we have built a test rig equipped with an iPhone, a Google Pixel Android phone, and a Google Tango device. We provide a wide range of raw sensor data that is accessible on almost any modern-day smartphone together with a high-quality ground-truth track. We also compare resulting visual-inertial tracks from Google Tango, ARCore, and Apple ARKit with two recent methods published in academic forums. The data sets cover both indoor and outdoor cases, with stairs, escalators, elevators, office environments, a shopping mall, and metro station.


  • Benchmarking, Navigation, Visual-inertial odometry

Publication forum classification

Field of science, Statistics Finland