SmokeBasement - Stereo thermal camera and Hesai lidar dataset

The data were collected at the basement of a construction site, filled with firefighting drill smoke on Jan 21 2025.

Only thermal frames and lidar data are available.Both sensor time and host time are recorded for thermal frames.The hesai pandar xt32 data are recorded by the official ros1 driver in ubuntu 20.04.We do not provide sync signals to the hesai pandar, so the timestamps in the rosbag for /hesai/pandar are host times.

We released the smoke at a deep corner of the basement, then collected 6 sessions of data.

We do not upload the camera calibration data but only the calibration results. If needed, they can requested by dropping me an email.

We also provide the extrinsic parameters and some pictures during the data collection.