<i>Supporting data for</i> "Towards Efficient LiDAR mapping for Robotics"

Robots, such as unmanned aerial vehicles and robot dogs, are suitable for exploring unknown environments that are dangerous for a human to walk in. These robots are equipped with sensors to obtain information from the environment. A map of the environment is simultaneously constructed on the robot while an online exploration algorithm determines the next area to explore based on the map. In most recent research on robotics, LiDARs have gained increasing interest thanks to their ability to provide dense and accurate depth measurements of environments. This dataset includes LiDAR data collected in both indoor and outdoor environments of HKU, which aims to benefit the robotic community and facilitate future research to advance the LiDAR mapping technology.

诸如无人机（unmanned aerial vehicles）与机器狗（robot dogs）在内的机器人，适用于探索对人类而言存在安全风险、难以涉足的未知环境。此类机器人搭载各类传感器以采集周遭环境信息。机器人会在同步构建环境地图的同时，通过在线探索算法基于该地图规划下一探索区域。在近年来的机器人学研究中，激光雷达（LiDAR）因能够提供密集且精准的环境深度测量数据，愈发受到研究者的关注。本数据集包含于香港大学（HKU）室内与室外环境中采集的激光雷达数据，旨在为机器人学领域提供支持，并助力后续推动激光雷达建图技术发展的相关研究。