wwtinwhu / nebula-odometry-dataset

Ready to test your SLAM system in challenging datasets from extreme environments? Try this out! The dataset is provided by the Team CoSTAR that has been intensively testing multi-robot systems in real world environments such as caves, tunnels, abandoned factories and industrial plants for the DARPA Subterranean Challenge.

NeBula odometry dataset

• Overview
• Download datasets
• Topics and frame convention
  • LiDAR dataset
  • Hovermap dataset

Cite

If you use this dataset in your research, we would kindly ask that you cite the following publication:

@ARTICLE{reinke2022iros,
  author={Reinke, Andrzej and Palieri, Matteo and Morrell, Benjamin and Chang, Yun and Ebadi, Kamak and Carlone, Luca and Agha-Mohammadi, Ali-Akbar},
  journal={IEEE Robotics and Automation Letters}, 
  title={LOCUS 2.0: Robust and Computationally Efficient Lidar Odometry for Real-Time 3D Mapping}, 
  year={2022},
  volume={},
  number={},
  pages={1-8},
  doi={10.1109/LRA.2022.3181357}}

Paper available on arXiv here

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