This work has been published in the open access journal IEEE Access

Dataset available on Zenodo (link)

Errata

Post publication we have noticed that data sequence 17 is a duplicate of sequence 14. Have this in mind when using and processing the dataset.

Citation 

If you use this work please cite the following journal article:

R. Milijas, J. Ramiro Martínez-de Dios and S. Bogdan, "PASTEL: An Aerial Multi-LiDAR Dataset for Research in SLAM Tuning and Robustness," in IEEE Access, vol. 13, pp. 153010-153023, 2025, doi: 10.1109/ACCESS.2025.3603733.

Bibtex:

@ARTICLE{Milijas2025,
author={Milijas, Robert and Ramiro Martínez-de Dios, Jose and Bogdan, Stjepan},
journal={IEEE Access},
title={PASTEL: An Aerial Multi-LiDAR Dataset for Research in SLAM Tuning and Robustness},
year={2025},
volume={13},
number={},
pages={153010-153023},
doi={10.1109/ACCESS.2025.3603733}}

 This work has been supported by the European Comission HORIZON-WIDERA-2021-ACCESS-05 programme through the project under G. A. number 101071270 named Strengthening Research and Innovation Excellence in Autonomous Aerial Systems - AeroSTREAM.

And by the project "RAISE: Robots Aéreos Inteligentes en Cooperación Estrecha con Sistemas IoT para la Inspección Avanzada de Viaductos" Ref. PID2023-149683OB-I00 funded by the Proyectos Investigación Orientada programme of the Spanish Plan Estatal de investigación.