Published July 12, 2026 | Version 0.97
Dataset Open

HUMANOID-LIO-DATASET

Authors/Creators

  • 1. ROR icon Institute of Fundamental Technological Research

Description

This dataset containst LiDAR (LiVOX MID360) data collected in 5 locations.

LiDAR was mounted onto humanoid robot Unitree G1.

It is for LIO (LiDAR Inertial Odometry) benchmark available at https://github.com/MapsHD/HDMapping.

Ground truth is obtained with TLS (Terrestrial Laser Scanner).

Instruction for benchmark MapsHD/benchmark-HDMapping-Orchestration at HUMANOID-LIO-DATASET

 

Files

Files (3.5 GB)

Name Size
md5:f965681f362701e48b4631e95e54bd10
980.7 MB Download
md5:b698db851aba5abfc0e5f63bd424bfa9
209.1 MB Download
md5:aebeeab1f6805dd03b821ea33e2d375a
360.2 MB Download
md5:e747e46e39ce18cdec25e818b9dde813
1.1 GB Download
md5:09da4a85a01d406ae97a3b651d6d8cd2
851.8 MB Download

Additional details

Dates

Created
2026-07-11

Software

Repository URL
https://github.com/MapsHD/HDMapping
Programming language
C++ , Python
Development Status
Active