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NTU-VIRAL Extracted Binary Data
Pre-extracted binary sensor data from the NTU VIRAL dataset for fast download in CI and local testing. This is not the original dataset — it contains only the extracted IMU, LiDAR, and ground truth files in a compact binary format.
Why this exists
The original dataset is hosted on NTU's data repository as large ROS bag files (4-9 GB each). Downloading and extracting them is slow. This repo provides the pre-extracted binary files for quick access during development and CI.
Attribution
The original NTU VIRAL dataset is by:
Thien-Minh Nguyen, Shenghai Yuan, Muqing Cao, Thien Hoang Nguyen, Lihua Xie. "NTU VIRAL: A Visual-Inertial-Ranging-Lidar Dataset, from an Aerial Vehicle." International Journal of Robotics Research (IJRR), 2022.
- Paper: https://doi.org/10.1177/02783649211052312
- Website: https://ntu-aris.github.io/ntu_viral_dataset/
- Original data: https://researchdata.ntu.edu.sg/dataset.xhtml?persistentId=doi:10.21979/N9/X39LEK
Licensed under CC BY-NC-SA 4.0, same as the original.
File format
Per sequence directory:
imu.bin—[timestamp_s f64, ax f64, ay f64, az f64, gx f64, gy f64, gz f64]per samplelidar.bin— per scan:[timestamp_s f64, num_points u32, pad u32]header, then[x f32, y f32, z f32, intensity f32, t_ms f32]per pointgroundtruth.tum— TUM format:timestamp x y z qx qy qz qw
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