Published February 8, 2026
| Version 0.97
Dataset
Open
Annotated ground truth for LiDAR SLAM loop closures
Authors/Creators
Description
This dataset contains annotated loop closures.
Pair wise matching was performed manually, then with ICP for final refinament.
Each ground truth edge provide two LiDAR point clouds and ground truth relative pose between them.
Date was collaected with handheld LiDAR LIVOX MID360 in the city center on pedestrian areas.
It is compatible with MapsHD/HDMapping.
Files
Files
(48.9 GB)
| Name | Size | Download all |
|---|---|---|
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md5:7aa5c3e4b7ae97c896d26ed022f8369a
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1.7 GB | Download |
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md5:395ad0e20bfacabc430c401ff79d801b
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2.9 GB | Download |
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md5:fef8f5c7f53a89a6b58928b611f7baea
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2.0 GB | Download |
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md5:a02f003a7b7bd72614497855b9f6e948
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2.1 GB | Download |
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md5:0116d0d180c6591a8a18ca9a607c8824
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1.9 GB | Download |
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md5:ea029c581946c4b38283b7e233ca11c1
|
2.5 GB | Download |
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md5:e10a942482bfe10ea6051f3fd6d629c7
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2.4 GB | Download |
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md5:cf9a251f20b987c0ecb8458778f3de6e
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2.8 GB | Download |
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md5:3490de4591ab6ce569614d7a4f5a9215
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2.6 GB | Download |
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md5:6eaa077cbfbceb7fde8d7de836d77499
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2.3 GB | Download |
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md5:8865b82fbba60d6e554f360f1c3f0c98
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2.4 GB | Download |
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md5:ee98096a13d2922e8d25278bd968e308
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1.6 GB | Download |
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md5:94578ac343a9d3f84b72ad976e38be0d
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2.3 GB | Download |
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md5:5ac4ef62695f1b3ae1cd174511cee056
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1.3 GB | Download |
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md5:47e07bdaa0daaf9be0acb602da999281
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1.6 GB | Download |
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md5:47d138e5e8ba7a7e42f0f72c4fc1b7f0
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3.2 GB | Download |
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md5:47755009329073bd99cf2f2acd1720cf
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1.9 GB | Download |
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md5:5bfd482d85c270e799e481fc3ab465f4
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2.2 GB | Download |
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md5:a63c028250eea71618f73b064cdd72ad
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1.9 GB | Download |
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md5:71f35ae313943f008884dd2e25f5d6ee
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1.7 GB | Download |
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md5:840165c8702122b345895c4930d09f85
|
1.9 GB | Download |
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md5:7bab80155cbc0c880c7c6da69dd47091
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2.2 GB | Download |
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md5:ea8fe0e2349f443e380345cce0ac2bb5
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1.6 GB | Download |
Additional details
Software
- Repository URL
- https://github.com/MapsHD/HDMapping
- Programming language
- C++ , Python
- Development Status
- Active