FusionPortable V2

From Campus to Highway: A Unified Multi-Sensor Dataset for Generalized SLAM Across Diverse Platforms and Scalable Environments

News

Overview

Sensors

Various Platforms and Scenarios

Ground-Truth Devices

Third-View of Data Collection

Environment Platform Preview
Escalator
Handheld
Corridor Handheld
Underground Parking Lot Legged Robot
Campus UGV
Outdoor Parking Lot UGV

Details

Organization

Note:

1. <frame_id>.yaml store intrinsics and extrinsics of a specific sensor
2. <map_env>.pcd ground-truth map
3. <platform_env>.bag rosbag
4. <platform_env>.7z compressed rosbag

Trajectories of Sequences

Download Sequence

Please click these below links to download:

Option 1 (recommend, long-term maintenance): Google Drive
Or copy this link
https://drive.google.com/drive/folders/1PYhnf3PlY5r0hbyzWDGTUTPxRMl6SYa-?usp=sharing

Option 2 (long-term maintenance): Baidu Wang Pan with the code byj8
Or copy this link
https://pan.baidu.com/s/1lZwK-TNrCyoyC9oWEs8jUg?pwd=byj8

Option 3 (unavailable now): Link to Baidu Pan (unavailabel now)

After downloading, please extract compressed ROSBag in the terminal: 7z l <platform_env>.7z

Calibration Sequences

Hanheld Sequences

Picture
 Sequence
Features
 Preview
handheld_grass00 Textureless preview
handheld_room00 Dynmaic preview
handheld_room01 Dynmaic preview
handheld_escalator00 Non-inertial preview
handheld_escalator01 Non-inertial preview
handheld_underground00 Structureless preview

Legged Robot Sequences

Picture
 Sequence
Features
 Preview
legged_grass00 Structureless, Deformable preview
legged_grass01 Structureless, Deformable preview
legged_room00 Dynamic preview
legged_transition00 Illumination, GNSS-deined preview
legged_underground00 Structureless preview

UGV Sequences

Picture
 Sequence
Features
 Preview
ugv_parking00 Structureless preview
ugv_parking01 Structureless preview
ugv_parking02 Structureless preview
ugv_parking03 Structureless preview
ugv_campus00 Large-Scale preview
ugv_campus01 Fast Motion preview
ugv_transition00 GNSS-Denied preview
ugv_transition01 GNSS-Denied preview

Vehicle Sequences

Picture
 Sequence
Features
 Preview
vehicle_campus00 Large-Scale preview
vehicle_campus01 Large-Scale preview
vehicle_street00 Large-Scale, Dynmaic preview
vehicle_tunnel00 Low Texture and Structure preview
vehicle_downhill00 Illumination preview
vehicle_highway00 Structureless preview
vehicle_highway01 Structureless preview
vehicle_multilayer00 Perceptual Aliasing preview

Some High-Resolution GT Maps

Environment Area Preview
UGV Campus 0.36km^2 GT Map
Underground Parking 0.037km^2 GT Map

Experiments

Calibration

Projected Point Cloud with Camera-LiDAR Calibration (LCE-Calib)

Localization Evaluation

Running FAST-LIO2: handheld_room00, legged_grass00, ugv_campus00, vehicle_highway00

Running COIN-LIO : vehicle_tunnel00 (COIN-LIO)

Mapping Evaluation

Perception Test (Monocular 3d Object Detection, Segmentation, Depth Estimation)

Utilizing the VisionFactory for training and testing vision tasks.

Importing the GT map as the simulated environment (in Gazebo), we can employ the open-source CMU exploration package to achieve the navigation experiment.

Tools

The development tool can be used by clicking the button below

Known Issues

We have listed some knowns issues in our dataset:

  1. Some dynamic objects exist and not removed from the ground-truth maps. If you want the ``clear'' map for experiments, I recommend you to try the maps in FusionPortable first.

If you have any other issues, please report them on the repository:

FusionPortable-release works were used in the following papers. Please checkout these workds if you are interested. (Please contact us if you would like your work mentioned here).

Publications

  1. FusionPortableV2: A Unified Multi-Sensor Dataset for Generalized SLAM Across Diverse Platforms and Scalable Environments
    Hexiang Wei*, Jianhao Jiao*, Xiangcheng Hu, Jingwen Yu, Xupeng Xie, Jin Wu, Yilong Zhu, Yuxuan Liu, etc.
    Under Review
    [Arxiv]

Contact

Contributors