The EDI Multi-Modal Simultaneous Localization and Mapping Dataset (EDI-SLAM)
This paper accompanies the initial public release of the EDI multi-modal SLAM dataset, a collection of long tracks recorded with a portable sensor package. These include two global shutter RGB camera feeds, LiDAR scans, as well as inertial and GNSS data from an RTK-enabled IMU-GNSS positioning modul...
Saved in:
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2025-01-01
|
| Series: | Data |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2306-5729/10/1/5 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1832588712509177856 |
|---|---|
| author | Peteris Racinskis Gustavs Krasnikovs Janis Arents Modris Greitans |
| author_facet | Peteris Racinskis Gustavs Krasnikovs Janis Arents Modris Greitans |
| author_sort | Peteris Racinskis |
| collection | DOAJ |
| description | This paper accompanies the initial public release of the EDI multi-modal SLAM dataset, a collection of long tracks recorded with a portable sensor package. These include two global shutter RGB camera feeds, LiDAR scans, as well as inertial and GNSS data from an RTK-enabled IMU-GNSS positioning module—both as satellite fixes and internally fused interpolated pose estimates. The tracks are formatted as ROS1 and ROS2 bags, with separately available calibration and ground truth data. In addition to the filtered positioning module outputs, a second form of sparse ground truth pose annotation is provided using independently surveyed visual fiducial markers as a reference. This enables the meaningful evaluation of systems that directly utilize data from the positioning module into their localization estimates, and serves as an alternative when the GNSS reference is disrupted by intermittent signals or multipath scattering. In this paper, we describe the methods used to collect the dataset, its contents, and its intended use. |
| format | Article |
| id | doaj-art-8ff947542cdd48d1983b1a6f90fb49fa |
| institution | Kabale University |
| issn | 2306-5729 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Data |
| spelling | doaj-art-8ff947542cdd48d1983b1a6f90fb49fa2025-01-24T13:28:32ZengMDPI AGData2306-57292025-01-01101510.3390/data10010005The EDI Multi-Modal Simultaneous Localization and Mapping Dataset (EDI-SLAM)Peteris Racinskis0Gustavs Krasnikovs1Janis Arents2Modris Greitans3Institute of Electronics and Computer Science (EDI), LV-1006 Riga, LatviaInstitute of Electronics and Computer Science (EDI), LV-1006 Riga, LatviaInstitute of Electronics and Computer Science (EDI), LV-1006 Riga, LatviaInstitute of Electronics and Computer Science (EDI), LV-1006 Riga, LatviaThis paper accompanies the initial public release of the EDI multi-modal SLAM dataset, a collection of long tracks recorded with a portable sensor package. These include two global shutter RGB camera feeds, LiDAR scans, as well as inertial and GNSS data from an RTK-enabled IMU-GNSS positioning module—both as satellite fixes and internally fused interpolated pose estimates. The tracks are formatted as ROS1 and ROS2 bags, with separately available calibration and ground truth data. In addition to the filtered positioning module outputs, a second form of sparse ground truth pose annotation is provided using independently surveyed visual fiducial markers as a reference. This enables the meaningful evaluation of systems that directly utilize data from the positioning module into their localization estimates, and serves as an alternative when the GNSS reference is disrupted by intermittent signals or multipath scattering. In this paper, we describe the methods used to collect the dataset, its contents, and its intended use.https://www.mdpi.com/2306-5729/10/1/5roboticsSLAMcomputer visionLiDARdatasetROS |
| spellingShingle | Peteris Racinskis Gustavs Krasnikovs Janis Arents Modris Greitans The EDI Multi-Modal Simultaneous Localization and Mapping Dataset (EDI-SLAM) Data robotics SLAM computer vision LiDAR dataset ROS |
| title | The EDI Multi-Modal Simultaneous Localization and Mapping Dataset (EDI-SLAM) |
| title_full | The EDI Multi-Modal Simultaneous Localization and Mapping Dataset (EDI-SLAM) |
| title_fullStr | The EDI Multi-Modal Simultaneous Localization and Mapping Dataset (EDI-SLAM) |
| title_full_unstemmed | The EDI Multi-Modal Simultaneous Localization and Mapping Dataset (EDI-SLAM) |
| title_short | The EDI Multi-Modal Simultaneous Localization and Mapping Dataset (EDI-SLAM) |
| title_sort | edi multi modal simultaneous localization and mapping dataset edi slam |
| topic | robotics SLAM computer vision LiDAR dataset ROS |
| url | https://www.mdpi.com/2306-5729/10/1/5 |
| work_keys_str_mv | AT peterisracinskis theedimultimodalsimultaneouslocalizationandmappingdatasetedislam AT gustavskrasnikovs theedimultimodalsimultaneouslocalizationandmappingdatasetedislam AT janisarents theedimultimodalsimultaneouslocalizationandmappingdatasetedislam AT modrisgreitans theedimultimodalsimultaneouslocalizationandmappingdatasetedislam AT peterisracinskis edimultimodalsimultaneouslocalizationandmappingdatasetedislam AT gustavskrasnikovs edimultimodalsimultaneouslocalizationandmappingdatasetedislam AT janisarents edimultimodalsimultaneouslocalizationandmappingdatasetedislam AT modrisgreitans edimultimodalsimultaneouslocalizationandmappingdatasetedislam |