IILABS 3D: iilab Indoor LiDAR-based SLAM Dataset
Data og ressourcer
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IILABS 3D: iilab Indoor LiDAR-based SLAM Dataset
Access to the full dataset.
Yderligere info
Felt | Værdi |
---|---|
Forfatter | Jorge Diogo Ribeiro, Ricardo Barbosa Sousa, João Graça Martins, André Silva Aguiar, Filipe Neves dos Santos & Héber Miguel Sobreira |
Last Updated | juni 23, 2025, 12:58 (UTC) |
Oprettet | februar 27, 2025, 10:02 (UTC) |
Citation | J.D. Ribeiro, R.B. Sousa, J.G. Martins, A.S. Aguiar, F.N. Santos and H.M. Sobreira, "IILABS 3D: iilab Indoor LiDAR-based SLAM Dataset" [Dataset], INESC TEC, 2025, doi: 10.25747/VHNJ-WM80. |
Dataset Toolkit | https://github.com/JorgeDFR/iilabs3d-toolkit |
Format:Calibration Files | Supplied in YAML format. |
Format:Ground Truth Data | Available as text files in TUM format (8 columns: timestamp in seconds, three columns for position coordinates, and four columns for orientation in quaternion format). |
Format:Sensor Data | Provided in ROS 1 bag files, with each file representing a sequence during which the robot followed a defined trajectory. |
Sprog | English |
Project | GreenAuto: Green innovation for the Automotive Industry |
Project Webpage | https://jorgedfr.github.io/3d_lidar_slam_benchmark_at_iilab/ |
Relation | Article and code to be available soon. |
Size | Approximately 350 GB |
Software | Motive (OptiTrack Motion Capture System), Robot Operating System (ROS) |