This repository shares some simultaneous localization and mapping (SLAM) datasets and detection datasets for railroad application. Note that this sahring is a continuous and long-during process due to complicated legal issues and safety regulations on the railroad.
In the first stage, we decide to realease some LiDAR, visual, IMU sequence for freight-traffic railways. The ground truth cannot be provided due to safety regulations.
All datasets can be found here:
links: https://pan.baidu.com/s/1E-VCzyz-f20Cxst44YLiPw?pwd=1234 code：1234
Dont check the below links, since they are all expired！！！
The single LiDAR sequence:
- Velodyne VLP16 LiDAR, provided in pcap format, gathered on a maintenance vehicle.
links: - Ouster OS1-64 LiDAR, provided in rosbag format, gathered on a UGV on a newly constructed high-speed railway.
links:https://pan.baidu.com/s/1wjItY9bns6SUwzAvF-mIxA?pwd=7mtr code：7mtr
Topics
/ouster_points Ouster point clouds
/imu/data IMU measurements provided by MTI-680G- Livox LiDAR, provided in rosbag format, gathered on several maintenance vehicles, inlcuding single lidar, multiple lidar datasets.
single LiDAR:
links: https://pan.baidu.com/s/1y095-1ZT4F8MUFpc3g1CFA?pwd=kocq code：kocq
Topics:
/livox/lidar Livox lidar in custom_msg format, note that both livox horizon and avia is included
/imu/data IMU measurements provided by MTI-680G- mutiple LiDAR:
links:https://pan.baidu.com/s/1ndYHlKrkQ2aWSdJtsfAmBg?pwd=cp6e code：cp6e
Although up to 7 or 8 LiDARs are included in our system, we only provide the front two LiDARs information here due to safety regulations.
/livox/lidar_1xxxx The downview lidar
/livox/lidar_3xxxx The upview lidar
/imu/data IMU measurements provided by MTI-680G