i2Nav-Robot

i2Nav-Robot是一个大型数据集，专为室内外环境下的多传感器融合导航和制图设计。该数据集整合了多种模式传感器，包括最新的前视和360度固态激光雷达、4维(4D)雷达、立体相机、测距仪、全球导航卫星系统(GNSS)接收器和惯性测量单元(IMU)，所有这些都被安装在全方位轮式机器人上。数据集包含10个大规模序列，涵盖了多种UGV操作场景，如户外街道和室内停车场，总长度约为17060米。高频率的地面真实数据，具有厘米级的精度，通过使用导航级IMU的后处理集成导航方法获得。该数据集由10多个开源的多传感器融合系统进行了评估，证明了其数据质量的优越性。

i2Nav-Robot is a large-scale dataset designed for multi-sensor fusion navigation and mapping in both indoor and outdoor environments. This dataset integrates a variety of multi-modal sensors, including state-of-the-art forward-looking and 360-degree solid-state LiDARs, 4-dimensional (4D) radars, stereo cameras, rangefinders, Global Navigation Satellite System (GNSS) receivers, and Inertial Measurement Units (IMUs), all of which are mounted on an omnidirectional wheeled robot. The dataset consists of 10 large-scale sequences, covering various Unmanned Ground Vehicle (UGV) operation scenarios such as outdoor streets and indoor parking lots, with a total length of approximately 17,060 meters. High-frequency ground truth data with centimeter-level accuracy is obtained via post-processed integrated navigation methods using navigation-grade IMUs. This dataset has been evaluated by more than 10 open-source multi-sensor fusion systems, demonstrating the superiority of its data quality.