Published January 31, 2023
| Version v2
Dataset
Open
LiDAR Degeneration Test Dataset (Flatwall experiment)
Description
A dataset for evaluating LiDAR-IMU SLAM performance in situations where LiDAR data becomes completely degenerated. A Livox Avia was used to record point cloud and IMU data, and the LiDAR was moved while facing to a flat wall. A camera rigidly attached to the LiDAR was used to observe visual fiducial tags (Apriltags) placed on the wall to measure the ground truth trajectory of the LiDAR.
Files
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md5:d8e9087ab94826ba14311076b89af016
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184.6 MB | Download |
md5:234a60eef9d90ec069a2cbe6042f6cf9
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136.0 MB | Download |
md5:f9fdf248878a0bf6828bb8d1a24b898f
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143.9 MB | Download |
md5:b3c79526c784b24718ba44cf10d5bf5a
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131.0 MB | Download |
md5:15b7c46d0a018d0dbaf6bb8a1b30a828
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139.9 MB | Download |
md5:a5f36b4171313b2bc92b47109ff9db33
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88.3 MB | Download |
md5:a3a25258b9d39a83b6391a5c16c518fb
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89.3 MB | Download |
md5:12e9cb533ca5f62898b08a62ecd42494
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121.1 MB | Download |
md5:501cafce3ba81760a40a38aaf85e1073
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213.7 kB | Download |