Odyssey: An automotive lidar-inertial odometry dataset with GNSS-denied situations
Overview
This publication presents Odyssey, an automotive LIO dataset featuring prolonged GNSS-denied environments enabled by a navigation-grade Ring Laser Gyroscope (RLG)-based RTK/INS. The dataset includes 36 diverse sequences ranging from rural outdoor to urban and indoor scenarios, along with experimentally validated uncertainties for precise error quantification. It also supports place recognition tasks through trajectory repetition and integration of external mapping data via precise geodetic coordinates.
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Reported quantity · sequences: 36 other · Basis not reported
“tories enabled by a navigation-grade Ring Laser Gyroscope (RLG)-based RTK/INS; (2) a large and diverse collection of 36 sequences that range from rural outdoor environments to urban and indoor scenarios; and (3) experimentally validated uncertainties, allowing for precise quantification of reference error. Besides providing data for LIO, Odyssey also supports place recognition tasks through threefold trajectory repet”
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- International Journal of Robotics Research — Journal metadataSignalOdyssey: An automotive lidar-inertial odometry dataset with GNSS-denied situations
This publication presents Odyssey, an automotive LIO dataset featuring prolonged GNSS-denied environments enabled by a navigation-grade Ring Laser Gyroscope (RLG)-based RTK/INS. The dataset includes 36 diverse sequences ranging from rural outdoor to urban and indoor scenarios, along with experimentally validated uncertainties for precise error quantification. It also supports place recognition tasks through trajectory repetition and integration of external mapping data via precise geodetic coordinates.
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