A 3D LiDAR Dataset of ITU Heterogeneous Robot Team

Abstract

This paper describes a data set collected with a heterogeneous team of robots consisting of an unmanned ground and aerial vehicles driven in small area inside Maslak Campus of Istanbul Technical University. It is a valuable data set for testing SLAM, Loop Closure and Map Merging techniques. While UGV platform has IMU, GPS, Odometry and Light Detection and Ranging (LiDAR) sensors, UAV platform has IMU, GPS and LiDAR sensors. In UAV dataset, having multiple traversals of the same path can be useful to test loop closure techniques. The dataset is available for download at robotics.itu.edu.tr/ITU_Dataset.