Dynamic Direct LiDAR Odometry - Kantplatz dataset

Dataset mentioned in the Dynamic Direct LiDAR Odometry paper. It contains a sequence recorded near the campus of TU Damstadt. Urban scene, many dynamic objects: Pedestrians, cyclists, vehicles. The data was recorded on a wheeled ground robot equipped with an Ouster OS-0 128 LiDAR and a Xsens IMU.

Topics: - /autonomy_module_lidar/points | sensor_msgs/PointCloud2 - sensor_msgs/PointCloud2 | sensor_msgs/Imu

The sequence is split into 10 bagfiles of ~3GB each. The total duration is ~480s.

Identifier
Source https://tudatalib.ulb.tu-darmstadt.de/handle/tudatalib/4303
Metadata Access https://tudatalib.ulb.tu-darmstadt.de/oai/openairedata?verb=GetRecord&metadataPrefix=oai_datacite&identifier=oai:tudatalib.ulb.tu-darmstadt.de:tudatalib/4303
Provenance
Creator Lichtenfeld, Jonathan; Daun, Kevin; von Stryk, Oskar
Publisher TU Darmstadt
Contributor TU Darmstadt
Publication Year 2023
Rights Creative Commons Attribution 4.0; info:eu-repo/semantics/openAccess
OpenAccess true
Contact https://tudatalib.ulb.tu-darmstadt.de/page/contact
Representation
Resource Type Dataset
Format application/octet-stream
Discipline Other