LiDAR-camera calibration dataset

This dataset provides several LiDAR-camera data sequences recorded in the rosbag2 format to test LiDAR-camera extrinsic calibration algorithms. The ros2 bag files were recorded with two LiDAR-camera configurations (LiDAR: Livox Avia / Ouster OS1-32, camera: STC-MCS500POE). livox.tar.gz contains five rosbags with the following topics: Topic: /livox/points | Type: sensor_msgs/msg/PointCloud2 | Topic: /livox/imu | Type: sensor_msgs/msg/Imu | Topic: /livox/lidar | Type: livox_interfaces/msg/CustomMsg | Topic: /image | Type: sensor_msgs/msg/Image | Topic: /camera_info | Type: sensor_msgs/msg/CameraInfo | ouster.tar.gz contains two rosbags with the following topics: Topic: /camera_info | Type: sensor_msgs/msg/CameraInfo | Topic: /image | Type: sensor_msgs/msg/Image | Topic: /points | Type: sensor_msgs/msg/PointCloud2 |

搜集汇总

背景与挑战

背景概述

该数据集提供多种LiDAR-相机配置的传感器数据(rosbag2格式)，专门用于测试LiDAR-相机外参标定算法。包含Livox和Ouster两种LiDAR设备与STC相机的组合数据，涵盖点云、图像和IMU等多种传感器数据。