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ZENODO
Dataset . 2026
License: CC BY
Data sources: ZENODO
ZENODO
Dataset . 2026
License: CC BY
Data sources: Datacite
ZENODO
Dataset . 2026
License: CC BY
Data sources: Datacite
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Claim

Annotated ground truth for LiDAR SLAM loop closures

Research datakeyboard_double_arrow_right Dataset 08 Feb 2026Publisher:Zenodo
Authors: Bedkowski, Janusz;

doi: 10.5281/zenodo.18527593 , 10.5281/zenodo.18527592

Annotated ground truth for LiDAR SLAM loop closures

Abstract

This dataset contains annotated loop closures. Pair wise matching was performed manually, then with ICP for final refinement. Each ground truth edge provide two LiDAR point clouds and ground truth relative pose between them. Data was collected with handheld LiDAR LIVOX MID360 in the city center on pedestrian areas. It is compatible with MapsHD/HDMapping.

Keywords

LiDAR SLAM, NDT, pair wise matching, FPFH, ICP, loop closure

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selected citations
These citations are derived from selected sources.
This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Citations provided by BIP!
popularity
This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.
BIP!Popularity provided by BIP!
influence
This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Influence provided by BIP!
impulse
This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.
BIP!Impulse provided by BIP!
0
Average
Average
Average