Download the HeLiPR Dataset

Accessing the HeLiPR Dataset

To gain access to the HeLiPR dataset:

1. Click on the button above to navigate to the Google form.

2. Within the form, please provide the following details:

   • Email: The email address where you would like to receive the download link.

   • Name: Your full name.

   • Affiliation: Your associated institution or organization.

   • Sequences: Specify the dataset sequences you are interested in downloading.

3. Once you've completed and submitted the form, the download link for the dataset will be automatically sent to the email address you provided.

Please ensure the email address is entered correctly to receive the dataset without any interruptions.

All of file sizes in the folder are calculated based on du -h --apparent-size. Furthermore, the size of the compressed file is indicated on the drive.

Baseline (Ground Truth Trajectory)

• x, y, z, qx, qy, qz, qw with time (.txt format)

• Included individually in LiDAR_GT directory 

• The baseline is the ground at each LiDARs.

Multiple-LiDAR Calibration Sequences

• The Calibration sequences consists of two .bag file. These bag files contain four LiDAR topics, and move a very simple circular trajectory.

  • Calibration1 [33.35GB] / file format: .bag

  • Calibration2 [40.26GB] / file format: .bag

Sample Sequences

• The Sample sequences consists of Roundabout01 (1 minute).

  • • Ouster [1.8GB (zipped 0.90GB)] / Aeva [1GB (zipped 0.59GB)] / Velodyne [0.22GB (zipped 0.12GB)] / Avia [0.18GB (zipped 0.1GB)]

Roundabout

• 01 (16/07/2023) 

  • Ouster [79GB (zipped 55.27GB)] / Aeva [54GB (zipped 41.83GB)] / Velodyne [11GB (zipped 7.24GB)] / Avia [8.6GB (zipped 6.55GB)]

• 02 (01/08/2023)

  • Ouster [58GB (zipped 41.91GB)] / Aeva [47GB (zipped 35.78GB)] / Velodyne [8.4GB (zipped 6.01GB)] / Avia [6.6GB (zipped 5.01GB)]

• 03 (13/08/2023) 

  • Ouster [72GB (zipped 50.51GB)] / Aeva [57GB (zipped 40.52GB)] / Velodyne [9.4GB (zipped 6.65GB)] / Avia [8.0GB (zipped 6.12GB)]

Town

• 01 (16/07/2023)

  • Ouster [70GB (zipped 49.82GB)] / Aeva [55GB (zipped 42.38GB)] / Velodyne [11GB (zipped 7.48GB)] / Avia [8.1GB (zipped 6.03GB)]

• 02 (31/07/2023) 

  • Ouster [78GB (zipped 55.43)] / Aeva [61GB (zipped 46.93GB)] / Velodyne [12GB (zipped 8.42GB)] / Avia [8.9GB (zipped 6.70GB)]

• 03 (14/08/2023)

  • Ouster [74GB (zipped 52.04)] / Aeva [63GB (zipped 44.31)] / Velodyne [11GB (zipped 7.80G)] / Avia [8.2GB (zipped 6.15GB)]

Bridge

• 01 (17/07/2023) 

  • Ouster [56GB (zipped 39.19GB)] / Aeva [34GB (zipped 25.47GB)] / Velodyne [7.3GB (zipped 5.14GB)] / Avia [6.0GB (zipped 4.47GB)]

• 02 (31/07/2023)

  • Ouster [61GB (zipped 43.87GB)] / Aeva [46GB (zipped 34.97GB)] / Velodyne [8.7GB (zipped 6.21GB)] / Avia [7.2GB (zipped 5.37GB)]

• 03 (14/08/2023)

  • Ouster [52GB (zipped 36.24GB)] / Aeva [36GB (zipped 24.97GB)] / Velodyne [6.9GB (zipped 4.87GB)] / Avia [5.6GB (zipped 4.22GB)]

• 04 (21/08/2023)

  • Ouster [75GB (zipped 36.24GB)] / Aeva [61GB (zipped 24.97GB)] / Velodyne [11GB (zipped 4.87GB)] / Avia [8.2GB (zipped 4.22GB)]

KAIST

• 04 (31/08/2023, Night)

  • Ouster [36GB (zipped 24.73GB)] / Aeva [25GB (zipped 17.44GB)] / Velodyne [4.4GB (zipped 3.14GB)] / Avia [3.6GB (zipped 2.61GB)]

• 05 (31/08/2023, Morning) 

  • Ouster [34GB (zipped 24.59GB)] / Aeva [28GB (zipped 19.21GB)] / Velodyne [4.7GB (zipped 3.35GB)] / Avia [3.7GB (zipped 2.75GB)]

• 06 (15/01/2024, Night)

  • Ouster [35GB (zipped 23.42GB)] / Aeva [24GB (zipped 16.72GB)] / Velodyne [5.1GB (zipped 3.14GB)] / Avia [4.3GB (zipped 2.69GB)]

DCC

• 04 (31/08/2023, Night)

  • Ouster [22GB (zipped 15.45GB)] / Aeva [15GB (zipped 10.81GB)] / Velodyne [2.8GB (zipped 2.00GB)] / Avia [2.6GB (zipped 1.92GB)]

• 05 (31/08/2023, Morning) 

  • Ouster [31GB (zipped 22.37GB)] / Aeva [23GB (zipped 16.22GB)] / Velodyne [4.2GB (zipped 2.99GB)] / Avia [3.5GB (zipped 2.66GB)]

• 06 (15/01/2024, Night)

  • Ouster [31GB (zipped 21.16GB)] / Aeva [21GB (zipped 14.42GB)] / Velodyne [4.4GB (zipped 2.73GB)] / Avia [4.1GB (zipped 2.56GB)]

Riverside

• 04 (31/08/2023, Night)

  • Ouster [15GB (zipped 9.97GB)] / Aeva [8.4GB (zipped 5.94GB)] / Velodyne [1.8GB (zipped 1.29GB)] / Avia [1.7GB (zipped 1.21GB)]

• 05 (31/08/2023, Morning) 

  • Ouster [20GB (zipped 14.21GB)] / Aeva [15GB (zipped 10.62GB)] / Velodyne [2.9GB (zipped 2.01GB)] / Avia [2.2GB (zipped 1.62GB)]

• 06 (15/01/2024, Night)

  • Ouster [28GB (zipped 18.69GB)] / Aeva [18GB (zipped 11.68GB)] / Velodyne [4.3GB (zipped 2.52GB)] / Avia [3.7GB (zipped 2.16GB)]