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The dataset contains hardware-synchronized data from a commercial stereo camera (Bumblebee\u00ae2), a custom stereo rig, and an inertial measurement unit. The most distinctive feature of this dataset is the strong presence of low-textured environments and scenes with dynamic illumination, which are recurrent corner cases of visual odometry and simultaneous localization and mapping (SLAM) methods. The dataset comprises 32 sequences and is provided with ground-truth poses at the beginning and the end of each of the sequences, thus allowing the accumulated drift to be measured in each case. We provide a trial evaluation of five existing state-of-the-art visual and visual\u2013inertial methods on a subset of the dataset. We also make available open-source tools for evaluation purposes, as well as the intrinsic and extrinsic calibration parameters of all sensors in the rig. The dataset is available for download at http:\/\/mapir.uma.es\/work\/uma-visual-inertial-dataset <\/jats:p>","DOI":"10.1177\/0278364920938439","type":"journal-article","created":{"date-parts":[[2020,7,11]],"date-time":"2020-07-11T05:38:40Z","timestamp":1594445920000},"page":"1052-1060","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":50,"title":["The UMA-VI dataset: Visual\u2013inertial odometry in low-textured and dynamic illumination environments"],"prefix":"10.1177","volume":"39","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8542-5192","authenticated-orcid":false,"given":"David","family":"Zu\u00f1iga-No\u00ebl","sequence":"first","affiliation":[{"name":"Machine Perception and Intelligent Robotics (MAPIR) Group, University of Malaga, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0434-7004","authenticated-orcid":false,"given":"Alberto","family":"Jaenal","sequence":"additional","affiliation":[{"name":"Machine Perception and Intelligent Robotics (MAPIR) Group, University of Malaga, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5338-1746","authenticated-orcid":false,"given":"Ruben","family":"Gomez-Ojeda","sequence":"additional","affiliation":[{"name":"Machine Perception and Intelligent Robotics (MAPIR) Group, University of Malaga, Spain"}]},{"given":"Javier","family":"Gonzalez-Jimenez","sequence":"additional","affiliation":[{"name":"Machine Perception and Intelligent Robotics (MAPIR) Group, University of Malaga, Spain"}]}],"member":"179","published-online":{"date-parts":[[2020,7,10]]},"reference":[{"key":"bibr1-0278364920938439","unstructured":"Blanco-Claraco JL (2010) A tutorial on SE(3) transformation parameterizations and on-manifold optimization. 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