FusionPortable V2-Dataset 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:

Calibration files (recommend, long-term maintenance): Github
Or copy this link
https://github.com/fusionportable/calibration_files

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

Data: Option 2 (not for long-term maintenance): Baidu Wang Pan with the code byj8
Or copy this link
https://pan.baidu.com/s/1lZwK-TNrCyoyC9oWEs8jUg?pwd=byj8

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

Calibration Files Cooresponding to Sequences

Please download the correct calibration files for the sequences.

Calibration Files Sequences
20230403_calib Handheld Sequences
20230426_calib UGV Seuqneces
20230618_calib Vehicle Seuqneces
20230912_calib Legged Robot Seuqneces

Preview of Sequences

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

High-Resolution GT Maps

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