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LiDAR-camera calibration dataset

Name: LiDAR-camera calibration dataset
Creator: Kenji Koide

Research datakeyboard_double_arrow_right Dataset 28 Mar 2023Publisher:Zenodo

Authors: Kenji Koide;

doi: 10.5281/zenodo.7777353 , 10.5281/zenodo.7777354 , 10.5281/zenodo.7780490 , 10.5281/zenodo.7779880

LiDAR-camera calibration dataset

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Abstract

This dataset provides several LiDAR-camera data sequences recorded in the rosbag2 format to test LiDAR-camera extrinsic calibration algorithms. The ros2 bag files were recorded with two LiDAR-camera configurations (LiDAR: Livox Avia / Ouster OS1-32, camera: STC-MCS500POE). livox.tar.gz contains five rosbags with the following topics: Topic: /livox/points | Type: sensor_msgs/msg/PointCloud2 | Topic: /livox/imu | Type: sensor_msgs/msg/Imu | Topic: /livox/lidar | Type: livox_interfaces/msg/CustomMsg | Topic: /image | Type: sensor_msgs/msg/Image | Topic: /camera_info | Type: sensor_msgs/msg/CameraInfo | ouster.tar.gz contains two rosbags with the following topics: Topic: /camera_info | Type: sensor_msgs/msg/CameraInfo | Topic: /image | Type: sensor_msgs/msg/Image | Topic: /points | Type: sensor_msgs/msg/PointCloud2 |

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