Demo Dataset Collected in Hong Kong
Total Size: 42.9 GB
Path Length:2.01 Km
Sensors: (Intrinsic and Extrinsic Parameters)
SPAN-CPT (Ground Truth)
Dropbox Link: Data INFO
Baidu Cloud Link: Data INFO, (qm3l)
Notes: We provide a GitHub page to answer possible issues that users may encounter. Please open an issue after you cannot from a solution from the issue list. Meanwhile, we also provide example usage of the dataset for applications of LiDAR SLAM or VINS, etc.
Dataset Collected in Tokyo
Total Size: 4.14 GB
Path Length: >10 Km
Ground Truth (CSV)
Baidu Cloud Link: UrbanNav-TK-20181219 （7xpo）
Notes: the LiDAR calibration file for the LiDAR sensor is not available now. If you wish to study the GNSS/LiDAR/IMU integration, we suggest using the dataset above collected in Hong Kong.