Enhanced Calibration Accuracy for Non-Overlapping Multi-LiDAR Systems Using GPIS-based Surface Modeling

This dataset contains synchronized point cloud data from two LiDAR sensors (front and back) generated using Prescan simulation platform. It is designed for multi-LiDAR extrinsic calibration research, specifically for methods based on Gaussian Process Implicit Surface (GPIS) matching. **Dataset Contents:**- **Point Cloud Data**: Approximately 658 synchronized frames of PCD (Point Cloud Data) format from two LiDAR sensors - Front LiDAR (`lidar_front/`): ~658 PCD files, ~691 MB total - Back LiDAR (`lidar_back/`): ~658 PCD files, ~680 MB total- **Configuration Files**: - Ground segmentation parameters (`linefit_ground_removal_config.yml`) - 3D-to-2D conversion parameters (`points3d_to_laserscan_config.yml`)- **Pose Information**: Relative pose files for both LiDAR sensors in YAML format- **Documentation**: Complete usage instructions and technical analysis **Key Features:**- Synchronized multi-LiDAR point cloud sequences- Ground-truth relative poses for validation- Complete configuration files for preprocessing- Compatible with GPIS-based calibration methods- Generated from Prescan simulation for reproducible research **Use Cases:**- Multi-LiDAR extrinsic calibration algorithm development- GPIS matching method evaluation- Point cloud registration research- Sensor fusion algorithm testing- Benchmark dataset for calibration methods **Data Format:**- Point clouds: PCD format (compatible with PCL, MATLAB, ROS)- Configuration: YAML format- Poses: YAML format with 6-DOF (x, y, z, roll, pitch, yaw) **Technical Details:**- Total frames: ~658 synchronized pairs- Point cloud size: ~777 KB per file- Coordinate system: Vehicle coordinate frame- Synchronization: Time-synchronized between front and back LiDARs- File naming: 6-digit zero-padded format (000001.pcd, 000002.pcd, ...) **Compatibility:**This dataset is designed to work with the GPIS-based extrinsic calibration pipeline implemented in MATLAB. The main processing script is:```GPisMapMatching/scripts/script_estimate_extrinsic_gpisMatching_full.m``` **Processing Pipeline:**1. Ground segmentation and z/roll/pitch estimation2. 3D point cloud to 2D laser scan conversion3. GPIS matching for 2D extrinsic estimation4. Initial pose estimation using delta motion5. Final pose estimation using scan-to-map matching