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MS-Dataset

★ 55 Open GitHub ↗

Large scale LiDAR-IMU dataset

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# MS-Dataset
Large scale LiDAR-IMU dataset

![image (15)](https://raw.githubusercontent.com/JokerJohn/MS-Dataset/main/README/image%20(15).png)

## sensor configuration

- Pandar XT32, +-**0.5cm**
- SBG INS : 100Hz IMU + GNSS + EKF filter
- 3DM-GQ7 INS: 700Hz IMU + dual GNSS-RTK + 30Hz Filter, >= **1.4cm**
- Mono Flir RGB camera (optional), it's hard to collect data with RTK-GNSS and RGB camera at the same time due to USB3.0.
- Ground Truth  RGB Point Cloud Map (indoor -> outdoor, **4mm**), collected by Leica BLK360 and RTC360.

## GT Trajectory

- From INS with cov less than **0.005m**. Users can also generate the gt with my scripts.
- Users can generate GT either from RTK-GNSS 1 or RTK-GNSS 2 with my scripts, but only with x y z yaw .
- KML file which can directly import by google map with my scripts.

|                                                              | 3DM-INS                                                      | GNSS1                                                        | GNSS2                                                        | SBG-GNSS                                                     |
| ------------------------------------------------------------ | ------------------------------------------------------------ | ------------------------------------------------------------ | ------------------------------------------------------------ | ------------------------------------------------------------ |
| [RB02](https://hkustconnect-my.sharepoint.com/:u:/g/personal/xhubd_connect_ust_hk/EXGbd3lDtLNAr6Q_0QPKiH4B1zDYpA2Qr-RTLcKj36KgYw?e=Gq6fv8) | ![image-20250122202712468](https://raw.githubusercontent.com/JokerJohn/MS-Dataset/main/README/image-20250122202712468.png) |                                                              |                                                              |                                                              |
| [RB03](https://hkustconnect-my.sharepoint.com/:f:/g/personal/xhubd_connect_ust_hk/EvD_ihCpNuBIgJihecOdvRYBnytwa1_6cIOA_cIMxYzBpw?e=c5tJmT) | ![image-20240624131357960](https://raw.githubusercontent.com/JokerJohn/MS-Dataset/main/README/image-20240624131357960.png) | ![image-20240624131801414](https://raw.githubusercontent.com/JokerJohn/MS-Dataset/main/README/image-20240624131801414.png) | ![image-20240624131343201](https://raw.githubusercontent.com/JokerJohn/MS-Dataset/main/README/image-20240624131343201.png) | ![image-20240624131412226](https://raw.githubusercontent.com/JokerJohn/MS-Dataset/main/README/image-20240624131412226.png) |
| [PK01](https://hkustconnect-my.sharepoint.com/:u:/g/personal/xhubd_connect_ust_hk/EW-bKP6RkZpPhRHfk2DReeEBwN8MvP2Eq5cfoUIBYglwEQ?e=WbJdFA) |                                                              | ![image-20240627071947142](https://raw.githubusercontent.com/JokerJohn/MS-Dataset/main/README/image-20240627071947142.png) | ![image-20240627072000320](https://raw.githubusercontent.com/JokerJohn/MS-Dataset/main/README/image-20240627072000320.png) |                                                              |
| CP05                                                         | ![image-20240627072713997](https://raw.githubusercontent.com/JokerJohn/MS-Dataset/main/README/image-20240627072713997.png) | ![image-20240627072622052](https://raw.githubusercontent.com/JokerJohn/MS-Dataset/main/README/image-20240627072622052.png) | ![image-20240627072635693](https://raw.githubusercontent.com/JokerJohn/MS-Dataset/main/README/image-20240627072635693.png) | ![image-20240627072730361](https://raw.githubusercontent.com/JokerJohn/MS-Dataset/main/README/image-20240627072730361.png) |
| CP02                                                         | ![image-20240627072854370](https://raw.githubusercontent.com/JokerJohn/MS-Dataset/main/README/image-20240627072854370.png) | ![image-20240627072809607](https://raw.githubusercontent.com/JokerJohn/MS-Dataset/main/README/image-20240627072809607.png) | ![image-20240627072821714](https://raw.githubusercontent.com/JokerJohn/MS-Dataset/main/README/image-20240627072821714.png) | ![image-20240627072834323](https://raw.githubusercontent.com/JokerJohn/MS-Dataset/main/README/image-20240627072834323.png) |
| RD01                                                         | ![image-20240627073000945](https://raw.githubusercontent.com/JokerJohn/MS-Dataset/main/README/image-20240627073000945.png) | ![image-20240627072926561](https://raw.githubusercontent.com/JokerJohn/MS-Dataset/main/README/image-20240627072926561.png) | ![image-20240627072940627](https://raw.githubusercontent.com/JokerJohn/MS-Dataset/main/README/image-20240627072940627.png) |                                                              |
| CP01                                                         | ![image-20240627073107324](https://raw.githubusercontent.com/JokerJohn/MS-Dataset/main/README/image-20240627073107324.png) | ![image-20240627073035768](https://raw.githubusercontent.com/JokerJohn/MS-Dataset/main/README/image-20240627073035768.png) | ![image-20240627073047934](https://raw.githubusercontent.com/JokerJohn/MS-Dataset/main/README/image-20240627073047934.png) |                                                              |
| GC01                                                         | ![image-20240627073207972](https://raw.githubusercontent.com/JokerJohn/MS-Dataset/main/README/image-20240627073207972.png) | ![image-20240627073136950](https://raw.githubusercontent.com/JokerJohn/MS-Dataset/main/README/image-20240627073136950.png) | ![image-20240627073146802](https://raw.githubusercontent.com/JokerJohn/MS-Dataset/main/README/image-20240627073146802.png) | ![image-20240627073157026](https://raw.githubusercontent.com/JokerJohn/MS-Dataset/main/README/image-20240627073157026.png) |
| CC01                                                         | ![image-20240627073243335](https://raw.githubusercontent.com/JokerJohn/MS-Dataset/main/README/image-20240627073243335.png) |                                                              |                                                              |                                                              |

## Data Description

| Dataset              | Description           | Sensors | Download Links | Ground Truth | Comments |
| -------------------- | --------------------- | ------- | -------------- | ------------ | -------- |
| Calib-IMU-Intrinsinc |                       |         |                |              |          |
| Calib-Camera-LiDAR   |                       |         |                |              |          |
| PK01                 | Degenerate parkinglot |         |                |              |          |
|                      |                       |         |                |              |          |
| RB02                 |                       |         |                |              |          |
| RB03                 |                       |         |                |              |          |
| CP05                 |                       |         |                |              |          |

## Issues

### How to adpate to different sensors

`rostopic echo /os1_cloud_node/points/fields -n1`

MS-Dataset

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