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MulRan
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Dataset
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Radar place recognition
Tool
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MulRan
Home
Dataset
Examples
Download
Radar place recognition
Tool
Citation
More
Home
Dataset
Examples
Download
Radar place recognition
Tool
Citation
MulRan Dataset for Urban Place Recognition
Highlights of the dataset
Multimodal range sensors:
Radar
and
LiDAR
→ for robust structural place recognition algorithms
data examples
Multiple cities (multi-environments) → for environment-free loop detection algorithms
Multiple times with month-level temporal gaps → for long-term localization research
Multiple loop candidates, particularly
Reverse revisits → for rotation (viewpoint) invariant loop detection research
Revisits with lane-level differences → for translation change-robust loop detection research
6D baseline trajectories are provided for all sequences → not only place recognition, but also for odometry or SLAM studies.
The sensor suite
A single radar
A single LiDAR
MulRan's sequence environments and trajectories
Download here
Fast and easy sequence explorations (web GL)
DCC 01
KAIST 01
KAIST 02
Riverside 01
Riverside 03 (reverse of 01)
Sejong 01
Real scale
Detailed Highlights
Revisits with reverse direction and lane-level differences
Example: Riverside 01, 02, and 03
Data Format (TBA)
LiDAR
binary (same as KITTI)
Radar (polar image)
a single scan with a single time (at the last ray)
Radar (ray)
each ray has corresponding time
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