LiDAR SLAM Datasets

Website: https://www.cvlibs.net/datasets/kitti/eval_odometry.php
Karlsruhe Institute of Technology (KIT), German, 2012
Provides a variety of modalities (vision, LiDAR, IMU, RTK, etc.) and application domains (odometry, stereo, depth estimation, semantics, object detection, etc.)
The ground truth in sequence 08 is not accurate at the beginning.
For odometry, the accuracy is evaluated by taking a sliding window of size 100, 200, ..., 800 frames, respectively, and computing the transformation difference between the first pose and the last pose in this window, and comparing it with the corresponding ground truth difference. The step size for the sliding window can be a fixed number such as 10 frames. The result is averaged over the entire trajectories and also different sliding window sizes.

Website: http://robots.engin.umich.edu/nclt/
The University of Michigan North Campus Long-Term Vision and LIDAR Dataset, 2016
Mounted on a segway wheeled mobile robot.
Modalities: Camera, LiDAR, IMU, RTK GPS, Wheel Odometry

Website: https://oxford-robotics-institute.github.io/radar-robotcar-dataset/
280 km of driving around Oxford, UK
Modalities: Navtech CTS350-X Millimetre-Wave FMCW radar, dual Velodyne HDL-32E LIDARs

Last updated 1 year ago

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Website: https://www.cvlibs.net/datasets/kitti/eval_odometry.php
Karlsruhe Institute of Technology (KIT), German, 2012
Provides a variety of modalities (vision, LiDAR, IMU, RTK, etc.) and application domains (odometry, stereo, depth estimation, semantics, object detection, etc.)
The ground truth in sequence 08 is not accurate at the beginning.
For odometry, the accuracy is evaluated by taking a sliding window of size 100, 200, ..., 800 frames, respectively, and computing the transformation difference between the first pose and the last pose in this window, and comparing it with the corresponding ground truth difference. The step size for the sliding window can be a fixed number such as 10 frames. The result is averaged over the entire trajectories and also different sliding window sizes.

Website: http://robots.engin.umich.edu/nclt/
The University of Michigan North Campus Long-Term Vision and LIDAR Dataset, 2016
Mounted on a segway wheeled mobile robot.
Modalities: Camera, LiDAR, IMU, RTK GPS, Wheel Odometry

Website: https://oxford-robotics-institute.github.io/radar-robotcar-dataset/
280 km of driving around Oxford, UK
Modalities: Navtech CTS350-X Millimetre-Wave FMCW radar, dual Velodyne HDL-32E LIDARs

Last updated 1 year ago

Was this helpful?