Annotated ground truth for LiDAR SLAM loop closures
收藏Zenodo2026-02-21 更新2026-05-26 收录
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https://zenodo.org/doi/10.5281/zenodo.18527592
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资源简介：
This dataset contains annotated loop closures.
Pair wise matching was performed manually, then with ICP for final refinement.
Each ground truth edge provide two LiDAR point clouds and ground truth relative pose between them.
Data was collected with handheld LiDAR LIVOX MID360 in the city center on pedestrian areas.
It is compatible with MapsHD/HDMapping.
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Zenodo创建时间：
2026-02-09
