We use a single set of camera intrinsic and extrinsic parameters for all the robots. The parameters follow the Kimera-VIO format and can be downloaded below.

The datasets are in compressed rosbag format. For best results, decompress the rosbags before usage.

rosbag decompress *.bag

The ground truth trajectory is generated using GPS and total-station assisted LiDAR SLAM based on LOCUS and LAMP. The process is described in further detail in our paper. You can download the ground truth trajectory and reference point cloud below.

If you found the dataset to be useful, we would appreciate it if you can cite the following paper:

• Y. Tian, Y. Chang, L. Quang, A. Schang, C. Nieto-Granda, J. P. How, and L. Carlone, "Resilient and Distributed Multi-Robot Visual SLAM: Datasets, Experiments, and Lessons Learned," arXiv preprint arXiv:2304.04362, 2023.

@ARTICLE{tian23arxiv_kimeramultiexperiments,
  author={Yulun Tian and Yun Chang and Long Quang and Arthur Schang and Carlos Nieto-Granda and Jonathan P. How and Luca Carlone},
  title={Resilient and Distributed Multi-Robot Visual SLAM: Datasets, Experiments, and Lessons Learned}, 
  year={2023},
  eprint={2304.04362},
  archivePrefix={arXiv},
  primaryClass={cs.RO}
}

Name	Rosbags	GT	Photos	Trajectory
Campus-Outdoor	request	link
Campus-Tunnels	request	link
Campus-Hybrid	request	link

The camera calibration parameters used for our experiments can be found here.

The point cloud of the reference ground truth map can be downloaded here.