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ms-dataset's Introduction

MS-Dataset

Large scale LiDAR-IMU dataset

image (15)

sensor configuration

  • 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.

GT Trajectory

  • 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 image-20240624131357960 image-20240624131801414 image-20240624131343201 image-20240624131412226
PK01 image-20240627071947142 image-20240627072000320
CP05 image-20240627072713997 image-20240627072622052 image-20240627072635693 image-20240627072730361
CP02 image-20240627072854370 image-20240627072809607 image-20240627072821714 image-20240627072834323
RD01 image-20240627073000945 image-20240627072926561 image-20240627072940627
CP01 image-20240627073107324 image-20240627073035768 image-20240627073047934
GC01 image-20240627073207972 image-20240627073136950 image-20240627073146802 image-20240627073157026
CC01 image-20240627073243335

Data Description

Dataset Description Sensors Download Links Ground Truth Comments
Calib-IMU-Intrinsinc
Calib-Camera-LiDAR
PK01 Degenerate parkinglot
RB02
RB03
CP05

Issues

How to adpate to different sensors

rostopic echo /os1_cloud_node/points/fields -n1

ms-dataset's People

Contributors

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Stargazers

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Watchers

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