Index

About Sequences

  • This dataset was mainly acquired in Korea.

  • Sensor types a sequence provides is described as
    L    : LiDAR data, N: Navigation data (GPS, IMU, FOG, Encoder, Altimeter)

    • NOTE: If the data is on the hard disk, the file_player is slow to read the files and can not publish the data at the correct rate. To use file_player, it is recommended that the data be located on a fast SSD.

  • We also provide a whole constructed map for each session in the LAS format.

  • To explore the 3D map via webGL, click below each sequence's name.

Download Sequences

  • Sensors: L, N

  • Location / Complexity: Mapo-bridge / ★★

  • Path Length / Size: 10.32 km / 5.0G

  • Detail: IMU(Ver2), VRS(Ver1)

  • Sensors: L, N

  • Location / Complexity: Yeouido / ★★★★

  • Path Length / Size: 21.84 km / 22.2G

  • Detail: IMU(Ver2), VRS(Ver1)

  • Sensors: L, N

  • Location / Complexity: Gangnam, Seoul (residential area) / ★★★

  • Path Length / Size: 5.43 km / 5.4G

  • Detail: IMU(Ver2), VRS(Ver1)

  • Sensors: L, N

  • Location / Complexity: Gangnam, Seoul (Metropolis) / ★★★

  • Path Length / Size: 8.20 km / 7.7G

  • Detail: IMU(Ver2), VRS(Ver1)

  • Sensors: L, N

  • Location / Complexity: Kwanghwa-moon / ★★★

  • Path Length / Size: 2.36 km / 5.6G

  • Detail: IMU(Ver2), VRS(Ver1)

  • Sensors: L, N

  • Location / Complexity: Namsan (Tunnel) / ★★

  • Path Length / Size: 12.07 km / 13.6G

  • Detail: IMU(Ver2), VRS(Ver1)

  • Sensors: L, N

  • Location / Complexity: Highway / ★★

  • Path Length / Size: 17.33 km / 3.6G

  • Detail: IMU(Ver2), VRS(Ver1)

  • Sensors: L, N

  • Location / Complexity: Dongtan (Metropolis) / ★★★

  • Path Length / Size: 14.67 km / 12.0G

  • Detail: IMU(Ver2), VRS(Ver1)

  • Sensors: L, N

  • Location / Complexity: Pangyo, Seongnam (Metropolis) / ★★★

  • Path Length / Size: 15.7 km / 14.0G

  • Detail: IMU(Ver2), VRS(Ver1)

  • Note: Reverse path of urban04

  • Sensors: L, N

  • Location / Complexity: Daejeon (residential area) / ★★

  • Path Length / Size: 1.56 km / 1.0G

  • Detail: IMU(Ver2), VRS(Ver1)

  • Sensors: L, N

  • Location / Complexity: Daejeon (Apartment complex) / ★★

  • Path Length / Size: 2.55 km / 3.0G

  • Detail: IMU(Ver2), VRS(Ver1)

  • Sensors: L, N

  • Location / Complexity: Daejeon highway / ★★

  • Path Length / Size: 20.8 km / 8.0G

  • Detail: IMU(Ver2), VRS(Ver1)

  • Sensors: L, N

  • Location / Complexity: Daejeon (Apartment complex) / ★★

  • Path Length / Size: 2.72 km / 4.0G

  • Detail: IMU(Ver2), VRS(Ver1)

  • Sensors: L, N

  • Location / Complexity: Pangyo, Seongnam (Metropolis) / ★★★

  • Path Length / Size: 16.35 km / 11.0G

  • Detail: IMU(Ver1), VRS(Ver1)

  • Note: Reverse path of urban09

  • Sensors: L, N

  • Location / Complexity: Gangnam, Seoul (residential area) / ★★★★★

  • Path Length / Size: 3.06 km / 5.0G

  • Detail: IMU(Ver1), VRS(Ver1)

  • Sensors: L, N

  • Location / Complexity: Gangnam, Seoul (residential area) / ★★★★★

  • Path Length / Size: 4.20 km / 5.0G

  • Detail: IMU(Ver1), VRS(Ver1)

  • Sensors: L, N

  • Location / Complexity: Gangnam, Seoul (Metropolis) / ★★★

  • Path Length / Size: 11.72 km / 7.0G

  • Detail: IMU(Ver1), VRS(Ver1)

  • Sensors: L, N

  • Location / Complexity: Gangnam, Seoul (Metropolis) / ★★★

  • Path Length / Size: 10.54 km / 6.0G

  • Detail: IMU(Ver1), VRS(Ver1)

  • Sensors: L, N

  • Location / Complexity: Daejeon (KAIST) / ★★

  • Path Length / Size: 9.56 km / 6.0G

  • Detail: IMU(Ver1), VRS(Ver1)