The dataset used for integration tests consists of a precalibrated global shutter stereo camera pair with a 200 hz IMU. To reduce the overall size of this dataset, it was chopped to 1000 512X512 image pairs.
(D. Schubert, T. Goll, N. Demmel, V. Usenko, J. Stueckler and D. Cremers), In International Conference on Intelligent Robots and Systems (IROS), 2018.