The point cloud is obtained using Ouster, Aeva, Livox, and Velodyne. All scense are acquired at same location, varying scene apperances

Recent Update

2024 / 03: HeLiPR dataset is accepted in IJRR Journal.

2024 /  01: We added 3 sequences KAIST06, DCC06 and Riverside06. These sequences can be utilized  for validating temporal discrepancy with previous Dajeon sequences.

2023 / 11 : We update the description for system to introduce the sensor configuration in detail.

2023 / 09 : Our paper is submitted to the International Journal of Robotics Research.

2023 / 09 : The similar trajectory with MulRan is added for long-term place recognition (4 year differences). Furthermore, global pose (utm) for each LiDAR is updated.

2023 / 09 : Our paper (arxiv version) is uploaded.

2023 / 09 : Our paper is accepted to the Novel Sensors workshop at IROS 2023. This dataset is selected as invited spotlight presentation.  

2023 / 08 : The groundtruths of rotation part for all seqeunces are updated correctly.

2023 / 08 : The HeLiPR dataset homepage is firstly opened.