Could you please supply some dataset?

Huguet57 / LIMO-Velo

A real-time, direct and tightly-coupled LiDAR-Inertial SLAM for high velocities with spinning LiDARs

GNU General Public License v2.0

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Could you please supply some dataset? #10

Closed qpc001 closed 2 years ago

qpc001 commented 2 years ago

Amazing jobs, could you please supply some dataset?

Huguet57 commented 2 years ago

Yay! First!

Ouster

Try ouster.launch with these bags: http://data.ouster.io/sample-data-1.13/index.html.

Velodyne (KITTI)

Try kitti.launch downloading data from the KITTI Dataset. It has to be the [synced+rectified data] ones. Here are a few examples:

Residential data: easy. Slow motion, lots of features. Ex: Run 35
City data: medium. More varied, lots of different scenarios. Ex: Run 91
Road data: hard. Lots of moving cars, little amount of features. Ex: Run 15

These are zips that can be transformed to ROS bags thanks to kitti2bag.

Huguet57 commented 2 years ago

LIO-SAM sample datasets

Also, consider the bags given by LIO-SAM at https://github.com/TixiaoShan/LIO-SAM#sample-datasets. These are very slow motion, so it should have no problem. All bags that can be scenarios that can be solved by LIO-SAM, can be solved with LIMO-Velo.

Huguet57 commented 2 years ago

Fast-LIO sample datasets

Also consider the data given by Fast-LIO in https://github.com/hku-mars/FAST_LIO#4-rosbag-example. They give Velodyne bags and Livox Avia bags.

Today I might add support for Livox and create a specific avia.launch to run those.

Huguet57 commented 2 years ago

Xaloc dataset

Xaloc result

Just released data of our car to try with xaloc.launch. Find them here: https://www.dropbox.com/sh/4116xoc7srps6a5/AAC3q1h50swG7fRMI3USNn2la?dl=0.