Large scale LiDAR-IMU dataset
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- Pandar XT32, +-0.5cm
- SBG INS : 100Hz IMU + GNSS + EKF filter
- 3DM-GQ7 INS: 700Hz IMU + dual GNSS-RTK + 30Hz Filter, >= 1.4cm
- Mono Flir RGB camera (optional), it's hard to collect data with RTK-GNSS and RGB camera at the same time due to USB3.0.
- Ground Truth RGB Point Cloud Map (indoor -> outdoor, 4mm), collected by Leica BLK360 and RTC360.
- From INS with cov less than 0.005m. Users can also generate the gt with my scripts.
- Users can generate GT either from RTK-GNSS 1 or RTK-GNSS 2 with my scripts, but only with x y z yaw .
- KML file which can directly import by google map with my scripts.
| 3DM-INS | GNSS1 | GNSS2 | SBG-GNSS | |
|---|---|---|---|---|
| RB03 |  |
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| PK01 |  |
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| CP05 |  |
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| CP02 |  |
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| RD01 |  |
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| CP01 |  |
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| GC01 |  |
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| CC01 |  |
| Dataset | Description | Sensors | Download Links | Ground Truth | Comments |
|---|---|---|---|---|---|
| Calib-IMU-Intrinsinc | |||||
| Calib-Camera-LiDAR | |||||
| PK01 | Degenerate parkinglot | ||||
| RB02 | |||||
| RB03 | |||||
| CP05 |
rostopic echo /os1_cloud_node/points/fields -n1