LiDAR-IMU Data for Sensor Calibration on Tilted Ground

Self-collected data for paper on LiDAR-IMU calibration for ground vehicles on tilted ground. The Husky sequences were collected on Clearpath Husky equipped with Velodyne and GX5 IMU. The offroad sequences were collected on an offroad vehicle with an Ouster LiDAR and XSENS MTI-200-2A8G4 IMU. The data is in ros1 bags compatible with ROS melodic. Unpacking the zip file yields two subdirectories, one for the Husky data, one for the Offroad vehicle. The Husky data is further split into flat-ground sequences collected in lab environment, as well as outdoors sequences collected on tilted ground.