SnowXinghu - Lidar inertial data under heavy snow by a handheld device about Xinghu Building

The data were collected by Binliang Wang, Jianzhu Huai at a snowy night Feb 3 2024, and snowy morning Feb 4 2024,  around Xinghu Bldg and the basketball court before Xinghu gym, Wuhan Univ, with the handheld lidar and IMU rig of Yu Tengfei.The rig consists of a hesai pandar xt32, a xsens mti680 IMU, and an AGX orin 32GB computer.Unfortunately, no hardware sync is done between the xt32 and mti680.Good news is that mti680 records both host time and sensor time in /imu/time_ref.The hesai pandar xt32 records host times.

We provides 4 seqs, but two of them have some missing data. The other 2 seqs are captured under light snow and heavy snow, resp.

These data show typical performance of lidar under snow conditions, much more noisy points. But a strong LIO algorithm can deal with them without significant drift.