UAV Surveying - Water Tower inside a school

The data provided in this dataset is from a surveying flight in a water infrastructure inside a school. The dataset contains information of a 3D LiDAR, a camera, 3 IMUs, drone GPS position and velocity, and RTK position and velocity data, in rosbag format. The LiDAR is an Ouster OS1-128 Rev7, the IMUs are: drone IMU (unknown model), Xsens MTi 630 AHRS and LiDAR internal IMU. The camera has 1280x960p and 145º FOV. The sensor intrinsic and extrinsic are available in the dataset.本数据集的数据源自某校内水上基础设施的测绘飞行任务。数据集包含rosbag格式的三维激光雷达（3D LiDAR）、相机、三台惯性测量单元（IMU）、无人机GPS位置与速度数据，以及实时动态差分（RTK）位置与速度信息。该激光雷达型号为Ouster OS1-128 Rev7，三台惯性测量单元分别为：无人机自带IMU（型号未知）、Xsens MTi 630航姿参考系统（AHRS），以及激光雷达内置IMU。该相机分辨率为1280×960像素，视场角（FOV）为145°。本数据集附带各传感器的内参与外参信息。