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 |本数据集提供了若干采用rosbag2格式录制的激光雷达（LiDAR）-相机数据序列，用于测试激光雷达-相机外参标定算法。本次录制的ros2包文件基于两种激光雷达-相机硬件配置完成，激光雷达型号分别为Livox Avia、Ouster OS1-32，相机型号为STC-MCS500POE。其中livox.tar.gz压缩包包含5个rosbag包，其包含的话题及对应类型如下：/livox/points，类型为sensor_msgs/msg/PointCloud2；/livox/imu，类型为sensor_msgs/msg/Imu；/livox/lidar，类型为livox_interfaces/msg/CustomMsg；/image，类型为sensor_msgs/msg/Image；/camera_info，类型为sensor_msgs/msg/CameraInfo。ouster.tar.gz压缩包包含2个rosbag包，其包含的话题及对应类型如下：/camera_info，类型为sensor_msgs/msg/CameraInfo；/image，类型为sensor_msgs/msg/Image；/points，类型为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。