This Lidar Visual SLAM data was collected on the second floor of the Atwater Kent Lab, WPI, Worcester, MA, USA.
The collected dataset in Rosbag format. [Download: 49.7 GB]
The sensor extrinsic calibration files (images and Lidar scan) between OS1-64 Lidar and Intel Realsense T265 camera. [Download: 67.7 MB]
The camera intrinsic calibration files (images) for Intel Realsense T265 camera. [Download: 26.5 MB]
The camera-imu calibration Rosbag with undistorted images for Intel Realsense T265 camera. [Download: 443MB]
The 3-hours static IMU Rosbag for Intel Realsense T265 camera. [Download: 811MB]
Please also check the detail implementations with this dataset on Matlab examples:
- Performant and Deployable Stereo Visual SLAM with Fisheye Images
- Estimate Camera-to-IMU Transformation Using Extrinsic Calibration
We will apprecitate if you cite following paper while you are using our data in your academic research:
[1] Z. Huang, X. Zhang, A. Garcia and X. Huang, "A Novel, Efficient and Accurate Method for Lidar Camera Calibration," 2024 IEEE International Conference on Robotics and Automation (ICRA), Yokohama, Japan, 2024, pp. 14513-14519, doi: 10.1109/ICRA57147.2024.10611162.
/camera/fisheye1/camera_info 15030 msgs : sensor_msgs/CameraInfo
/camera/fisheye1/image_raw 15029 msgs : sensor_msgs/Image
/camera/fisheye2/camera_info 15029 msgs : sensor_msgs/CameraInfo
/camera/fisheye2/image_raw 15029 msgs : sensor_msgs/Image
/camera/imu 100202 msgs : sensor_msgs/Imu
/joint_states 29998 msgs : sensor_msgs/JointState (2 connections)
/mobile_base/sensors/imu_data 24988 msgs : sensor_msgs/Imu
/odom 24987 msgs : nav_msgs/Odometry
/ouster/imu 50093 msgs : sensor_msgs/Imu
/ouster/metadata 1 msg : std_msgs/String
/ouster/points 10019 msgs : sensor_msgs/PointCloud2
/ouster/range_image 10020 msgs : sensor_msgs/Image
/tf 194952 msgs : tf2_msgs/TFMessage (4 connections)
/tf_static 1 msg : tf2_msgs/TFMessage
/camera/camera_info 1 msg : sensor_msgs/CameraInfo
/camera/image_raw 677 msgs : sensor_msgs/Image(undistorted and resampled in 10Hz)
/camera/imu 13936 msgs : sensor_msgs/Imu(200Hz)
/camera/imu 2160225 msgs : sensor_msgs/Imu (200Hz)