Dataset Download

Format

• Calibration parameter

  • TXT format including [R|t] between each link

  • Provided for each agent setup

• Groundtruth Map 

  • PCD format (Intensity / Colored pointcloud)

• LiDAR Groundtruth (6DoF)

  • CSV format [time, x, y, z, qx, qy, qz, qw]

• Recorded data

  • ROS Bag format (ROS noetic)

  • (ROS-Humble support work in progress!!) 

  • DiTer++ Player 

📦 DiTer_plusplus

├──📁 Calibration

│   ├──🧾 agent_a.txt

│   └──🧾 agent_b.txt

└──📁 GT

   ├──📁 Global map

   │ ├──🧾 Global_map_dense.pcd

   │ └──🧾 Global_map_sparse.pcd

   ├──📁 Park

   │ ├──🧾 Park_GT.pcd

   │ ├──📝 Park_in_day_gt.tum

   │ ├──📝 Park_out_day_pose.tum

   │ ├──📝 Park_in_night_pose.tum

   │ └──📝 Park_out_night_pose.tum

   ├──📁 Lawn

   │ ├──🧾 Lawn_GT.pcd

   │ ├──📝 Lawn_upper_day_gt.tum

   │ ├──📝 Lawn_lower_day_gt.tum

   │ ├──📝 Lawn_upper_night_gt.tum

   │ └──📝 Lawn_lower_night_gt.tum

   └──📁 Forest

    ├──🧾 Forest_GT.pcd

    ├──📝 Forest_old_pose.tum

    └──📝 Forest_new_pose.tum

📦 DiTer_plusplus

└──📁 Bag

    ├──📁 Park

    │ ├──📥 Park_in_day.bag

    │ ├──📥 Park_out_day.bag

    │ ├──📥 Park_in_night.bag

    │ └──📥 Park_out_night.bag

    ├──📁 Lawn

    │ ├──📥 Lawn_upper_day.bag

    │ ├──📥 Lawn_lower_day.bag

    │ ├──📥 Lawn_upper_night.bag

    │ └──📥 Lawn_lower_night.bag

    └──📁 Forest

     ├──📥 Forest_old.bag

    └──📥 Forest_new.bag