Experimental Datasets for: Leveraging Probabilistic Meshes for Robust LiDAR Mapping (IEEE T-RO)

This dataset contains the LiDAR, GPS, and IMU data of the experimental flights in our paper: Paneque, J. L., Martinez-de-Dios, J. R., & Ollero, A. (2025). Leveraging Probabilistic Meshes for Robust LiDAR Mapping. IEEE Transactions on Robotics. (Submitted) The dataset contains the selected experiments (2 for each scenario, for 3 different scenarios) that have been analyzed in the paper. Each .zip file contains a ROSbag of an experiment, as well as a txt file with the transformation between the GPS and the LiDAR sensor. For convenience, the rosbags are cut in the beginning and end of the flights, where the robot is performing takeoff and landing, since the LiDAR is inclined towards the ground. Additional notes: The flights were performed in different periods and the aerial robot platform had changed between them. Mainly, the GPS receiver is different in half of the flights. This means that the transformation between the GPS and the LiDAR can change, and also that the topics can be different in each flight (either `mavros` or `dji_sdk`). For convenience, an additional topic `lidar_gt_pose` has been added to each rosbag, to represent the current LiDAR pose in ENU coordinates estimated from the GPS measurements. This pose can be also calculated manually using the transformation that is included in the file `gps_lidar.txt` located in each of the folders. Due to the lack of an internal battery or an internet connection, the system date in most of the flights was set in the 27th of May of 2021. To avoid additional corrections, the timestamps inside the bags have not been changed afterwards, since this is not relevant for their usage. For reference, these are the dates of each of the flights: ALCALA-F1: Oct 28 2021 09:21:42 GMT+0100 ALCALA-F2: Oct 28 2021 09:45:13 GMT+0100 ATLAS-F1: Oct 17 2023 12:10:31 GMT+0100 ATLAS-F2: Dec 09 2020 17:57:18 GMT+0100 Burguillos-F1: May 27 2021 17:25:21 GMT+0100 Burguillos-F2: May 27 2021 17:29:23 GMT+0100