About Sequences
Sensor types a sequence provides is described as
L: LiDAR data, N: Navigation data (GPS, IMU, FOG, Encoder, Altimeter), S: Stereo imageNOTE: 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.
[Caution] When pointcloud and image are used together, pointcloud is not projected to the exact position of the image. The baseline trajectory should be as accurate as of the ground truth in order to be projected at the correct position (for our system, there is no overlap between the two data), but the baseline provided in this paper is a trajectory computed based on the graph SLAM. Therefore, we recommend that you do not use the data assuming that the pointcloud is projected in the correct position in the image plane.
Sensors: L, N, S
Location / Complexity: Pangyo, Seongnam (Metropolis) / ★★★★
Path Length: 11.42 km
Detail: IMU(Ver2), VRS(Ver2)
Note: covered same regions of urban39.
Sensors: L, N, S
Location / Complexity: Seoul / ★★★
Path Length: 11.77 km
Detail: IMU(Ver2), VRS(Ver2)
Sensors: L, N, S
Location / Complexity: Seoul / ★★★
Path Length: 9.0 km
Detail: IMU(Ver2), VRS(Ver2)
Sensors: L, N, S
Location / Complexity: Yeouido / ★★★
Path Length: 7.6 km
Detail: IMU(Ver2), VRS(Ver2)
Sensors: L, N, S
Location / Complexity: Yeouido / ★★★
Path Length: 7.1 km
Detail: IMU(Ver2), VRS(Ver2)
Sensors: L, N, S
Location / Complexity: Gangnam / ★★★
Path Length: 11.4 km
Detail: IMU(Ver2), VRS(Ver2)
Sensors: L, N, S
Location / Complexity: Gangnam / ★★★
Path Length: 6.0 km
Detail: IMU(Ver2), VRS(Ver2)
Sensors: L, N, S
Location / Complexity: Dongtan / ★★★
Path Length: 4.0 km
Detail: IMU(Ver2), VRS(Ver2)
Sensors: L, N, S
Location / Complexity: Highway / ★★★
Path Length: 2.5 km
Detail: IMU(Ver2), VRS(Ver2)
Sensors: L, N, S
Location / Complexity: Highway / ★★
Path Length: 3.4 km
Detail: IMU(Ver2), VRS(Ver2)
Sensors: L, N, S
Location / Complexity: Highway / ★★
Path Length: 3.4 km
Detail: IMU(Ver2), VRS(Ver2)
Sensors: L, N, S
Location / Complexity: Highway / ★★★
Path Length: 3.7 km
Detail: IMU(Ver2), VRS(Ver2)
Sensors: L, N, S
Location / Complexity: Highway / ★★★
Path Length: 3.2 km
Detail: IMU(Ver2), VRS(Ver2)