Yuan-Shenghai/NTU-VIRAL-DATASET

🚁 NTU VIRAL DATASET

Visual · Inertial · Ranging · LiDAR

A multimodal aerial robotics dataset for localization, odometry and SLAM.

📄 Paper · 🌐 Official project · 🏛️ Source DOI · 💻 Baselines · 📐 Calibration · 📊 Evaluation

NTU VIRAL DATASET records stereo images, two LiDAR streams, inertial measurements and UWB ranges from an aerial vehicle, with Leica prism position as ground truth. The full public release contains 18 flight sequences across 6 environments, together with stereo and stereo–IMU calibration recordings.

This Hugging Face mirror brings the original recordings, all 18 ground-truth CSVs, official supporting materials and a curated code guide into one place. Original data files and timestamps are preserved.

✅ Migration complete. All 20 original data files (88.26 GB), ground truth and supporting materials are publicly available and verified.

The NTU VIRAL sensor platform. Figure from the official project.

Explore the recordings

EEE central carpark	Nanyang Auditorium	SBS square

Demonstrations from the official NTU VIRAL project.

📦 What's included

Collection	Contents
Flight data	18 original ZIP archives containing ROS 1 recordings
Ground truth	18 original CSV files, one per sequence
Calibration	Stereo calibration ZIP and stereo–IMU ROS bag
Sensor documentation	Topics, coordinate frames, timing and calibration guidance
Baseline resources	63 methods and implementations + 14 tools and reference resources
Verification	Official source checksums, SHA-256 manifest, source revisions and release report

The 20 original Dataverse files total 88.26 GB (88,260,221,773 bytes). The repository also includes ground truth, figures and documentation. Files become available below as migration verification finishes.

Dataset sequences

Sizes are decimal GB for the original downloadable ZIPs. Durations follow the official project. RTP, TNP and SPMS are the additional sequences released in September 2022.

Sequence	Environment	Duration	Archive size	Download	Ground truth
eee_01	EEE central carpark	398.7 s	4.53 GB	Hugging Face	CSV
eee_02	EEE central carpark	321.1 s	3.74 GB	Hugging Face	CSV
eee_03	EEE central carpark	181.4 s	2.00 GB	Hugging Face	CSV
nya_01	Nanyang Auditorium (indoor)	396.3 s	4.29 GB	Hugging Face	CSV
nya_02	Nanyang Auditorium (indoor)	428.7 s	4.68 GB	Hugging Face	CSV
nya_03	Nanyang Auditorium (indoor)	411.2 s	4.41 GB	Hugging Face	CSV
sbs_01	School of Biological Sciences square	354.2 s	3.78 GB	Hugging Face	CSV
sbs_02	School of Biological Sciences square	373.3 s	3.76 GB	Hugging Face	CSV
sbs_03	School of Biological Sciences square	389.3 s	4.00 GB	Hugging Face	CSV
rtp_01	Research Techno Plaza carpark	482 s	5.32 GB	Hugging Face	CSV
rtp_02	Research Techno Plaza carpark	439 s	5.60 GB	Hugging Face	CSV
rtp_03	Research Techno Plaza carpark	355 s	4.27 GB	Hugging Face	CSV
tnp_01	Research Techno Plaza (indoor)	583 s	8.74 GB	Hugging Face	CSV
tnp_02	Research Techno Plaza (indoor)	457 s	6.66 GB	Hugging Face	CSV
tnp_03	Research Techno Plaza (indoor)	407 s	5.88 GB	Hugging Face	CSV
spms_01	SPMS facade	446 s	5.86 GB	Hugging Face	CSV
spms_02	SPMS facade	398 s	4.31 GB	Hugging Face	CSV
spms_03	SPMS facade	386 s	5.39 GB	Hugging Face	CSV

Calibration downloads

File	Size	Download
calib_stereo.zip	51.12 MB	Hugging Face
calib_stereo_imu.bag	1.01 GB	Hugging Face

⚡ Quick start

Install the download client:

python -m pip install -U huggingface_hub

Download a sequence once its table entry is marked Hugging Face:

from huggingface_hub import hf_hub_download

archive = hf_hub_download(
    repo_id="Yuan-Shenghai/NTU-VIRAL-DATASET",
    repo_type="dataset",
    filename="sequences/eee_03.zip",
    local_dir="NTU-VIRAL",
)
print(archive)

The original archives retain their upstream internal directory layout. Extract the selected ZIP, then inspect and play its bag in a ROS 1 environment:

python -m zipfile -e NTU-VIRAL/sequences/eee_03.zip NTU-VIRAL/extracted/eee_03
rosbag info /path/to/extracted/recording.bag
rosbag play /path/to/extracted/recording.bag --clock

For UWB topics, build the official UWB message package. See common issues for ROS 2 conversion, timestamps and download checks.

💻 Start with a baseline

Choose a baseline for your sensor setup. This catalogue brings together 63 methods and implementations and 14 tools or reference resources for NTU VIRAL DATASET, including the original 10 dataset-adapted baselines and additional public implementations.

📖 Baseline guide · 📚 Papers and BibTeX · 🔎 Code and configuration audit

The guide covers installation, preprocessing, sensor settings, evaluation and licenses. NTU setup links open the checked configuration, launch file or usage guide. Original credits the upstream project for dataset-adapted forks; Software notes identifies resources without a separate paper linked in the catalogue.

For evaluation: use the stated sensor topics and calibration, account for the prism offset, and report development sequences and loop-closure settings. See the linked papers for experimental results.

Visual and visual–inertial methods

Method / resource	Sensor input / purpose	Code / setup	Paper / reference
OpenVINS	Stereo/mono + IMU	Code · NTU setup · Original	Paper · BibTeX
VINS-Fusion	Stereo + IMU	Code · NTU setup · Original	Related paper · VINS-Mono · BibTeX 1 · BibTeX 2 · BibTeX 3
VINS-Mono	Monocular + IMU	Code · NTU setup · Original	Paper · BibTeX 1 · BibTeX 2
DL-VINS-Factory	Stereo/mono + IMU	Code · NTU setup	Paper · BibTeX
ORB-SLAM3	Mono; stereo + IMU via CARES	Code · NTU setup	Paper · BibTeX 1 · BibTeX 2
SVO Pro	Monocular + IMU	Code · NTU setup	Paper · BibTeX 1 · BibTeX 2
OKVIS2	Stereo + IMU	Code · NTU setup	Paper · BibTeX 1 · BibTeX 2
D²SLAM (single vehicle)	Stereo + IMU	Code · NTU setup	Paper · BibTeX

LiDAR odometry

Method / resource	Sensor input / purpose	Code / setup	Paper / reference
A-LOAM	LiDAR	Code · NTU setup · Original	Related paper · BibTeX 1 · BibTeX 2
Traj-LO	LiDAR	Code · NTU setup	Paper · BibTeX
DLO	LiDAR; optional IMU initialization	Code · NTU setup	Paper · BibTeX
KISS-ICP	LiDAR	Code · NTU setup	Paper · BibTeX
GenZ-ICP	LiDAR	Code · NTU setup	Paper · BibTeX
MAD-ICP	LiDAR	Code · NTU setup	Paper · BibTeX
DualQuat-LOAM	LiDAR	Code · NTU setup	Paper · BibTeX
Onion-LO	LiDAR	Code · NTU setup	Paper · BibTeX
MOLA-LO	LiDAR	Code · NTU setup	Paper · BibTeX
I2EKF-LO	LiDAR	Code · NTU setup	Paper · BibTeX 1 · BibTeX 2
AdaCt	LiDAR	Code · NTU setup	Software notes · BibTeX

LiDAR–inertial methods

Method / resource	Sensor input / purpose	Code / setup	Paper / reference
LIO-SAM	LiDAR + IMU	Code · NTU setup · Original	Paper · BibTeX
FAST-LIO	LiDAR + IMU	Code · NTU setup · Original	Paper · BibTeX 1 · BibTeX 2
GLIM	LiDAR + IMU; visual extensions	Code · NTU setup	Paper · BibTeX 1 · BibTeX 2
SE3-LIO	LiDAR + IMU	Code · NTU setup	Paper · BibTeX
GenZ-LIO	LiDAR + IMU	Code · NTU setup	Paper · BibTeX
D-LIOM	LiDAR + IMU	Code · NTU setup	Paper · BibTeX 1 · BibTeX 2
FAST-LIO2	LiDAR + IMU	Code · NTU setup	Paper · BibTeX 1 · BibTeX 2
DLIO	LiDAR + IMU	Code · NTU setup	Paper · BibTeX
iG-LIO	LiDAR + IMU	Code · NTU setup	Paper · BibTeX
LOG-LIO	LiDAR + IMU	Code · NTU setup	Paper · BibTeX
LOG-LIO2	LiDAR + IMU	Code · NTU setup	Paper · BibTeX 1 · BibTeX 2
LIO-EKF	LiDAR + IMU	Code · NTU setup	Paper · BibTeX
Hybrid-VoxelMap	LiDAR + IMU	Code · NTU setup	Paper · BibTeX
BIEVR-LIO-ESIKF	LiDAR + IMU	Code · NTU setup	Software notes · BibTeX
FMCW-LIO (Ouster mode)	LiDAR + IMU; no Doppler	Code · NTU setup	Paper · BibTeX
Surfel-LIO	LiDAR + IMU	Code · NTU setup	Paper · BibTeX
Super-LIO	LiDAR + IMU	Code · NTU setup	Paper · BibTeX
R-VoxelMap	LiDAR + IMU	Code · NTU setup	Paper · BibTeX 1 · BibTeX 2
D-LIO (TSDF)	LiDAR + IMU	Code · NTU setup	Paper · BibTeX
lidarslam_ros2 / RKO-LIO	LiDAR + IMU	Code · NTU setup	Software notes · BibTeX
RESPLE	LiDAR; optional IMU	Code · NTU setup	Paper · BibTeX
LIO-SMF	LiDAR + IMU	Code · NTU setup	Paper · BibTeX
BIEVR-SuperOdometry-DataExploitation	LiDAR + IMU	Code · NTU setup	Software notes · BibTeX
Faster-LIO	LiDAR + IMU	Code · NTU setup	Paper · BibTeX

Multiple-LiDAR methods

Method / resource	Sensor input / purpose	Code / setup	Paper / reference
M-LOAM	Multiple LiDARs	Code · NTU setup · Original	Paper · BibTeX 1 · BibTeX 2
SLICT	Multiple LiDARs + IMU	Code · NTU setup	SLICT · SLICT2 / Eigen · BibTeX 1 · BibTeX 2
CTE-MLO	Multiple LiDARs	Code · NTU setup	Paper · BibTeX
MA-LIO	Two LiDARs + IMU	Code · NTU setup	Paper · BibTeX
LOCUS 2.0	Multiple LiDARs + IMU	Code · NTU setup	Paper · BibTeX
FAST-LIO-MULTI	Multiple LiDARs + IMU	Code · NTU setup	Software notes · BibTeX
FSICP — experimental	Two LiDARs	Code · NTU setup	Software notes · BibTeX

LiDAR–visual–inertial methods

Method / resource	Sensor input / purpose	Code / setup	Paper / reference
FAST-LIVO	LiDAR + camera + IMU	Code · NTU setup	Paper · BibTeX
CLIC	LiDAR + camera + IMU	Code · NTU setup · Original	Paper · BibTeX
FAST-LIVO2	LiDAR + camera + IMU	Code · NTU setup	Paper · BibTeX 1 · BibTeX 2
Ct-LVI	LiDAR + camera + IMU	Code · NTU setup	Paper · BibTeX 1 · BibTeX 2
LIR-LIVO	LiDAR + camera + IMU	Code · NTU setup	Paper · BibTeX 1 · BibTeX 2
Coco-LIC	LiDAR + camera + IMU	Code · NTU setup	Paper · BibTeX
SR-LIVO	LiDAR + camera + IMU	Code · NTU setup	Paper · BibTeX
R3LIVE	LiDAR + camera + IMU	Code · NTU setup	Paper · BibTeX 1 · BibTeX 2
livo_recon	LiDAR + images + IMU	Code · NTU setup	Software notes · BibTeX

Mapping and localization

Method / resource	Sensor input / purpose	Code / setup	Paper / reference
ImMesh	LiDAR + IMU; meshing	Code · NTU setup	Paper · BibTeX 1 · BibTeX 2
GS-LIVM	LiDAR + camera + IMU; 3DGS	Code · NTU setup	Paper · BibTeX
LM-LVIL	LiDAR + camera + IMU + prior map	Code · NTU setup	Paper · BibTeX 1 · BibTeX 2
PINI-SLAM	LiDAR + IMU	Code · NTU setup	Author paper · BibTeX 1 · BibTeX 2

Evaluation, calibration and data tools

Method / resource	Sensor input / purpose	Code / setup	Paper / reference
SLAM–UWB calibration and fusion	SLAM poses + UWB	Code · NTU setup	Paper · BibTeX
Official MATLAB evaluation	Estimated trajectory + GT	Code · NTU setup	Software notes · BibTeX
Official UWB driver	P440 UWB messages	Code · NTU setup	Software notes · BibTeX
Calibrex	Sensor calibration	Code · NTU setup	Software notes · BibTeX
L2Calib	LiDAR + IMU calibration	Code · NTU setup	Paper · BibTeX
Ring FALS	LiDAR → point normals	Code · NTU setup	Software notes · BibTeX
BALM 2.0	LiDAR + initial poses	Code · NTU setup	Paper · BibTeX 1 · BibTeX 2
VIOATA benchmark framework	Camera + IMU pipelines	Code · NTU setup	Software notes · BibTeX
MOLA ROS 1 bag reader	ROS 1 sensor recordings	Code · NTU setup	Software notes · BibTeX
Official FAST-LIO2 sample trajectories	Reference estimated trajectories	Code · NTU setup	Software notes · BibTeX
PointCloudProjection	LiDAR + images	Code · NTU setup	Software notes · BibTeX
traj_eval	Estimated trajectories + GT	Code · NTU setup	Software notes · BibTeX
bagx	ROS bag / MCAP streams	Code · NTU setup	Software notes · BibTeX
localization_zoo evaluation adapters	LiDAR / IMU / images; estimated trajectories	Code · NTU setup	Software notes · BibTeX

Additional ports and variants

These entries extend methods listed above and are grouped with their parent method.

• FAST-LIVO — Experimental time-offset variant: Code · NTU setup. Software notes · BibTeX.
• FAST-LIVO2 — ROS 2 port: Code · NTU setup. Software notes · BibTeX.
• FAST-LIVO2 — SC_FAST_LIVO2 front end; external PGO required: Code · NTU setup. Software notes · BibTeX.
• Traj-LO — AdaTrajLo fork retaining NTU config: Code · NTU setup. Software notes · BibTeX.
• Coco-LIC — LICO-mid360 fork retaining NTU config: Code · NTU setup. Software notes · BibTeX.
• ORB-SLAM3 — CARES stereo-inertial adapter: Code · NTU setup. Software notes · BibTeX.
• GenZ-ICP — MapsHD ROS 2 guide: Code · NTU setup. Software notes · BibTeX.
• FAST-LIO2 — Surfel map / Eigen implementation (ROS 1 and ROS 2): Code · NTU setup. Software notes · BibTeX.
• FAST-LIO2 — FLiVIS community variant: Code · NTU setup. Software notes · BibTeX.

Last catalogue check: 26 October 2026.

📐 Use the correct reference frame

Leica measures the prism position. The prism is approximately 0.4 m from the IMU body origin, so the rotated lever arm must be applied when evaluating a body trajectory. The reference supplies position, not measured full orientation.

Use the sensor and calibration guide and evaluation guide before comparing results.

🔎 Provenance and integrity

The release preserves original bytes and checks official MD5, ZIP member CRC and SHA-256 before publication. Remote verification distinguishes full downloads of small files from SHA-256 metadata checks of large files.

Source inventory · SHA-256 manifest · Live verification report · Sources and licenses

📚 Citation

Please cite the dataset paper when using NTU VIRAL:

@article{nguyen2022ntu,
  title={NTU VIRAL: A Visual-Inertial-Ranging-Lidar Dataset, From an Aerial Vehicle Viewpoint},
  author={Nguyen, Thien-Minh and Yuan, Shenghai and Cao, Muqing and Lyu, Yang and Nguyen, Thien Hoang and Xie, Lihua},
  journal={The International Journal of Robotics Research},
  volume={41},
  number={3},
  pages={270--280},
  year={2022},
  doi={10.1177/02783649211052312}
}

Dataset BibTeX · Dataset and baseline references · Published paper · Preprint

License

The dataset uses CC BY-NC-SA 4.0 for non-commercial academic use. Credit the original authors and retain the license when redistributing it. Baseline implementations keep their upstream licenses. See PROVENANCE.md for the material-by-material source record.