This dataset is captured using a Velodyne VLP-16, which is mounted on an UGV - Clearpath Jackal, on Stevens Institute of Technology campus. The VLP-16 rotation rate is set to 10Hz. This data-set features over 20K scans and many loop-closures. The TF transform in the bags is provided by LeGO-LOAM (without enabling the loop-cloure function, pure lidar odometry). The whole mapping process is also recorded in videos.
/tf # not needed for running LeGO-LOAM, do not publish it when test with LeGO-LOAM
/imu/data # not aligned with VLP-16, only offers initial transformation guess, not necessary for running LeGO-LOAM
/velodyne_points
https://drive.google.com/drive/folders/16p5UPUCZ1uK0U4XE-hJKjazTsRghEMJa?usp=sharing
Thank you for citing our paper if you use any of this data:
@inproceedings{traversability2018,
title={Bayesian Generalized Kernel Inference for Terrain Traversability Mapping},
author={Shan, Tixiao and Wang, Jinkun and Englot, Brendan and Doherty, Kevin},
booktitle={In Proceedings of the 2nd Annual Conference on Robot Learning},
year={2018}
}
@inproceedings{legoloam2018,
title={LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain},
author={Shan, Tixiao and Englot, Brendan},
booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages={4758-4765},
year={2018},
organization={IEEE}
}