Published July 20, 2022
| Version v1
Dataset
Open
LiDAR-IMU Mapping Test with Various Range Sensors
Creators
Description
This is a set of LiDAR-IMU mapping test sequences recorded with various range sensors.
- Ouster OS0-32 & OS0-64
- Livox Avia
- Intel Realsense L515 & D455
- Microsoft Azure Kinect
- Stereolabs ZED2i
The groundtruth IMU trajectories (gt.tar.gz) are estimated by a batch LiDAR-IMU optimization that aligns point cloud scans with an environmental map (map_e232b.las) recorded with a survey-grade LiDAR (FARO Focus).
Files
Files
(19.1 GB)
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md5:c5506a30654257328ce032ceea6292ac
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4.0 GB | Download |
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md5:ea25f7703ec5d076ba91dba63666d92c
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140.6 kB | Download |
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md5:fc7476ebb981ef507fe87862b800643b
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3.7 GB | Download |
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md5:d3066f2cecc5e79cc649afbead53caed
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5.6 GB | Download |
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md5:fb17a6d4e0bc1765e276f0dcca8a5063
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613.4 MB | Download |
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md5:c8192290625ef39e07a0e3bd0665255f
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854.5 MB | Download |
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md5:72f017236fb75bd21ab67addf2104442
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747.6 MB | Download |
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md5:f96805c6dda9644706bf179b9c5882e2
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1.7 GB | Download |
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md5:32634831479c6eb324289b465664a598
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1.9 GB | Download |