uts-ri / in2laama_datasets Goto Github PK

author: [email protected]

This repository provides lidar-inertial datasets collected with a Velodyne VLP-16 lidar and a Xsens MTi-3 IMU. The lidar data is collected with the snark driver. The IMU data is collected with rosbags and the ROS xsens_driver. The calib.csv file provide the extrinsic calibration between the sensors:

• Format : r_c1,r_c2,r_c3,p_c1,p_c2,p_c3
• Rotation (r_c) in euler angles in radians with the ZYX convention (mathlab's one)
• Translation (p_c)
• A lidar point is reprojected in imu frame via x_i = R_c * x_l + p_c

Please cite the following paper if this dataset is use in academic work

@ARTICLE{9194310,
  author={Le Gentil, Cedric and Vidal-Calleja, Teresa and Huang, Shoudong},
  journal={IEEE Transactions on Robotics}, 
  title={IN2LAAMA: Inertial Lidar Localization Autocalibration and Mapping}, 
  year={2021},
  volume={37},
  number={1},
  pages={275-290},
  doi={10.1109/TRO.2020.3018641}}

IEEE

Arxiv

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