LIVIB: LiDAR-IMU Vibration Dataset

LIVIB Dataset: A Sim2Real Benchmark for Quantifying Vibration Effects on LiDAR-IMU SLAMThis dataset accompanies the paper LIVIB: A Sim2Real Dataset for Systematic Quantification of Vibration Effects on LiDAR-IMU SLAM.OverviewThe dataset is designed to evaluate the robustness of LiDAR-IMU SLAM under diverse vibration conditions. It consists of two complementary parts:LIVIB-SimSimulated vibration scenarios covering wheeled, tracked, and legged robotic platforms, with varying vibration intensities and representative operating conditions.LIVIB-Sim2RealReal-world vibration data collected under different frequencies and amplitudes, paired with corresponding simulated conditions for systematic sim-to-real analysis.ContentsRaw rosbags containing LiDAR and IMU measurements.Ground-truth trajectoriesSimulation: provided by the simulator.Real-world: provided by high-precision GPS.ApplicationsThis dataset enables researchers to:Benchmark SLAM algorithms under controlled and real-world vibration disturbances.Quantify the impact of vibration frequency and amplitude on localization accuracy.Bridge the gap between simulation and real-world experiments for robust perception research.