Cross-sensor evaluation dataset
Download: https://zenodo.org/record/6864654
Description
This is a set of LiDAR-IMU mapping test sequences recorded with various range sensors.
- Ouster OS0-32 & OS0-64
- Livox Avia
- Intel Realsense L515 & D455
- Microsoft Azure Kinect
- Stereolabs ZED2i
The groundtruth IMU trajectories (gt.tar.gz) are estimated by a batch LiDAR-IMU optimization that aligns point cloud scans with an environmental map (map_e232b.las) recorded with a survey-grade LiDAR (FARO Focus).
Estimation results
Video
