This is a LiDAR-IMU dataset using a handheld hemispherical view LiDAR-IMU system.
Our handheld system integrates a nine-axis IMU (Owllmo IMU3910) and a hemispherical view LiDAR (RoboSense RS-Bpearl). Two outdoor data sequences are collected in open-air environments by fixing the system on a mobile platform equipped with a GNSS+INS system, as shown below.
Figure 1. The equipment for outdoor data collection
| Sequence | Collection Date | Total Size | Duration | Rosbag | Ground Truth |
|---|---|---|---|---|---|
| Indoor 1 | 2022-01-16 | 3.8G | 227s | Rosbag | ---------- |
| Indoor 2 | 2022-01-16 | 709M | 11s | Rosbag | ---------- |
| Outdoor 1 | 2022-01-16 | 4.5G | 331s | Rosbag | ---------- |
| Outdoor 2 | 2022-01-16 | 5.1G | 341s | Rosbag | ---------- |
| Outdoor 3 | 2022-01-16 | 10.8G | 953s | Rosbag | Ground Truth |
| Outdoor 4 | 2022-01-16 | 5.9G | 567s | Rosbag | Ground Truth |
For LiDAR data and IMU data, the rostopics of our rosbag sequences are listed as follows:
- LiDAR:
/horizontal_laser_3d - IMU:
/imu
For Ground Truth (GNSS+INS), the basic information are:
- Datum:
WGS84 - Master 1:
Name 744, Status ENABLED, Antenna height 0.090 m, to L1PC [Generic(NONE)], Lat, Lon, El Hgt 30 31 41.04001, 114 21 19.90145, 26.630 m [WGS84, N/A] - Remote:
Antenna height 0.000 m, to L1PC [Generic(NONE)] - IMU to GNSS Antenna Lever Arms:
x=-0.034, y=-0.283, z=0.342 m (x-right, y-fwd, z-up) - Body to Sensor Rotations:
xRot=90.000, yRot=0.000, zRot=-90.000 degrees (Rotate IMU into Vehicle Frame) - Map projection Info:
Defined grid: Gauss Kruger (3 deg), Zone 38
The content of each column in the file and some sample data are listed as follows:
| GPSTime(sec) | Easting(m) | Northing(m) | H-Ell(m) | Heading(deg) | Pitch(deg) | Roll(deg) | Latitude(deg) | Longitude(deg) | VEast(m/s) | VNorth(m/s) | VUp(m/s) | Q |
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 9879.920 | 533843.632 | 3379901.251 | 17.899 | -4.8583430063 | 0.7827190222 | -0.0842668245 | 30.5388466765 | 114.3526809197 | 0.000 | -0.002 | -0.001 | 1 |
| 9879.925 | 533843.632 | 3379901.251 | 17.899 | -4.8581697398 | 0.7827817133 | -0.0844801964 | 30.5388466766 | 114.3526809197 | 0.000 | -0.002 | -0.001 | 1 |
| 9879.930 | 533843.632 | 3379901.251 | 17.899 | -4.8580207716 | 0.7826683263 | -0.0845637112 | 30.5388466766 | 114.3526809197 | 0.000 | -0.002 | -0.001 | 1 |
| 9879.935 | 533843.632 | 3379901.251 | 17.899 | -4.8579476728 | 0.7827301471 | -0.0845647536 | 30.5388466767 | 114.3526809196 | 0.000 | -0.002 | -0.001 | 1 |
| 9879.940 | 533843.632 | 3379901.251 | 17.899 | -4.8579405575 | 0.7827763180 | -0.0845550087 | 30.5388466767 | 114.3526809196 | 0.000 | -0.002 | -0.001 | 1 |
The recommended extrinsic parameters for LiDRA-IMU (the coordinates of LiDAR in the IMU coordinate system) are:
- extrinsc_R:
[1 0 0; 0 1 0; 0 0 1] - extrinsc_t:
[0.0175 0.0276 -0.1083]
Figure 2. Indoor 1 sequence
Figure 3. Indoor 2 sequence
Figure 4. Outdoor 1 sequence
Figure 5. Outdoor 2 sequence
Figure 6. Outdoor 3 sequence
Figure 7. Outdoor 4 sequence