Fig. 2
From: EKF-based self-attitude estimation with DNN learning landscape information
Examples of datasets. The dataset consists of images and correspond gravity vectors \(\varvec{g}\;[{\text{m/s}}^2]\) in the camera frame. These examples were collected in “Neighborhood” of AirSim. The camera pose and weather parameters are randomized for creating a dataset. An example of the weather parameter is that the road in the lower right image is covered in snow