ISRsea_Seq123

Here is a set of sequences recorded in an ISR experiment room at the University of Coimbra (UC). The room is laid out with papers stuck to the walls to serve as features. The first sequence has a different layout from the others. The bag contains data from an RGB-D camera (D435i), a stereo camera (Mynt Eye S1030), wheel odometry (provided by the Pioneer P3-PX robot) and a 2D LiDAR (Hokuyo URG-04L), as well as the IMU of both cameras. The transformations (TF) are defined as follows: RGB-D camera: 0.18 0.005 0.72 0 0.2007/0.262 0 base_link realsense_link Mynt Eye camera: 0.205 0.0 0.63 -1.57 0 -1.72 base_link mynteye_link Note: The laser transformations are already recorded on the bag. Only bags 2 and 3 contain the correction of the Mynt Eye right camera info values and the corrected IMU. The ground truth (GT) was generated using RTAB-Map, combining odometry data from various sensors in a fusion module. While it is considered highly accurate, it may still contain some associated errors.