@misc{wang2020tartanair,
author = {Wang, Wenshan and Zhu, Delong and Wang, Xiangwei and Hu, Yaoyu and Qiu, Yuheng and Wang, Chen and Hu, Yafei and Kapoor, Ashish and Scherer, Sebastian },
title = {TartanAir: A Dataset to Push the Limits of Visual SLAM},
howpublished = {ArXiv},
year = {2020},
month = {March},
abstract = {We present a challenging dataset, the TartanAir, for robot navigation task and more. The data is collected in photo-realistic simulation environments in the presence of various light conditions, weather and moving objects. By collecting data in simulation, we are able to obtain multi-modal sensor data and precise ground truth labels, including the stereo RGB image, depth image, segmentation, optical flow, camera poses, and LiDAR point cloud. We set up a large number of environments with various styles and scenes, covering challenging viewpoints and diverse motion patterns, which are difficult to achieve by using physical data collection platforms.},
url = {http://approjects.co.za/?big=en-us/research/publication/tartanair-a-dataset-to-push-the-limits-of-visual-slam/},
}