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LiDAR Degeneration Test Dataset (Flatwall experiment)

Name: LiDAR Degeneration Test Dataset (Flatwall experiment)
Creator: Kenji Koide

Research datakeyboard_double_arrow_right Dataset 31 Jan 2023Publisher:Zenodo

Authors: Kenji Koide;

doi: 10.5281/zenodo.7587764 , 10.5281/zenodo.7587765 , 10.5281/zenodo.7641866

LiDAR Degeneration Test Dataset (Flatwall experiment)

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Abstract

A dataset for evaluating LiDAR-IMU SLAM performance in situations where LiDAR data becomes completely degenerated. A Livox Avia was used to record point cloud and IMU data, and the LiDAR was moved while facing to a flat wall. A camera rigidly attached to the LiDAR was used to observe visual fiducial tags (Apriltags) placed on the wall to measure the ground truth trajectory of the LiDAR.

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