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 |本数据集提供若干条以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。本次录制采用两种激光雷达-相机硬件配置：激光雷达分别为Livox Avia、Ouster OS1-32，配套相机为STC-MCS500POE。其中livox.tar.gz压缩包包含5个rosbag文件，对应话题及消息类型如下：话题：/livox/points，类型：sensor_msgs/msg/PointCloud2；话题：/livox/imu，类型：sensor_msgs/msg/Imu；话题：/livox/lidar，类型：livox_interfaces/msg/CustomMsg；话题：/image，类型：sensor_msgs/msg/Image；话题：/camera_info，类型：sensor_msgs/msg/CameraInfo。ouster.tar.gz压缩包包含2个rosbag文件，对应话题及消息类型如下：话题：/camera_info，类型：sensor_msgs/msg/CameraInfo；话题：/image，类型：sensor_msgs/msg/Image；话题：/points，类型：sensor_msgs/msg/PointCloud2。

搜集汇总

背景与挑战

背景概述

该数据集提供多个rosbag2格式的LiDAR-相机数据序列，专用于测试LiDAR-相机外参标定算法。数据集包含两种传感器配置（Livox Avia和Ouster OS1-32 LiDAR与STC-MCS500POE相机组合），涵盖点云、图像、IMU等话题数据，总大小7.2GB。