Wild-Places Dataset

Wild-Places is a large-scale LiDAR dataset for inter and intra-run place recognition in unstructured natural environments. The data was collected in two environments at the Karawatha and Venman walking trails in Brisbane, Australia over fourteen months, allowing for research into both long and short-term revisits. We release sub-maps produced from a global point cloud for four sequences in both environments for a total of ~67K submaps, with accurate 6DoF poses and timestamps for each submap. \nLineage: The data was collected using a handheld sensor payload consisting of a spinning lidar sensor mounted at an angle of 45 degrees to maximise field of view, a motor, encoder, an IMU, and four cameras. For each collected sequence we use the Wildcat slam system to create an accurate 6DoF estimation of the pose of the sensor and to process the lidar data into a globally registered map, from which we produce our submaps.