Demo Dataset Collected in Hong Kong
UrbanNav-HK-Data20190428
Date: 2019/04/28
Total Size: 42.9 GB
Path Length:2.01 Km
Sensors: (Intrinsic and Extrinsic Parameters)
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GNSS/LiDAR/Camera/IMU
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SPAN-CPT (Ground Truth)
Downloads:
Dropbox Link: Data INFO
Baidu Cloud Link: Data INFO, (qm3l)
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GNSS (RINEX) (gojb)
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IMU/SPAN-CPT (CSV) (k3dz)
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
UrbanNav-TK-20181219
Date: 2018/12/19
Total Size: 4.14 GB
Path Length: >10 Km
Sensors:
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GNSS (RINEX)
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LiDAR (ROSBAG)
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IMU (CSV)
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Ground Truth (CSV)
Downloads:
Dropbox Link: UrbanNav-TK-20181219
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.