LunaPolaris-sequence_03

The LunaPolaris dataset consists of rosbag data collected with a small rover operating inside the LunaLab at the Interdisciplinary Centre for Security, Reliability and Trust (SnT), University of Luxembourg. The sequences were recorded in diverse visual environments featuring various visual and geometric landmarks under different illumination conditions. This repository is part of a multi-repository dataset, enabling users to download only the sequences of interest. Stereo calibration images for the dataset are provided in a dedicated calibration repository. Each sequence contains stereo images, LiDAR point clouds from a solid-state LiDAR, IMU data, and ground truth pose data. The rover follows the same ~30 m trajectory in all sequences, while the surrounding environment changes. This consistent trajectory facilitates direct comparison of environmental effects on perception and mapping performance. The table below lists the available sequences and their corresponding repositories. Repository DOI Stereo Calibration Images https://zenodo.org/records/16728838 Sequence 01 https://zenodo.org/records/15737938 Sequence 02 https://zenodo.org/records/15744408 Sequence 03 https://zenodo.org/records/15744629 Sequence 04 https://zenodo.org/records/15745640 Sequence 05 https://zenodo.org/records/15745689 Sequence 06 https://zenodo.org/records/15745828 Sequence 07 https://zenodo.org/records/15745932 Sequence 08 https://zenodo.org/records/15746302 Sequence 09 https://zenodo.org/records/15746894 Sequence 10 https://zenodo.org/records/15747096 Sequence 11 https://zenodo.org/records/15747348 Sequence 12 https://zenodo.org/records/15747458LunaPolaris数据集由卢森堡大学安全、可靠性与信任跨学科中心（Interdisciplinary Centre for Security, Reliability and Trust，缩写SnT）旗下LunaLab实验室内部运行的小型漫游车采集的rosbag数据组成。 数据集序列采集于多样化视觉环境中，涵盖不同光照条件下的各类视觉与几何地标。 本数据集属于多仓库数据集体系的一部分，支持用户仅下载所需的目标序列。该数据集的立体标定图像将在专属标定仓库中提供。 每个序列均包含立体图像、固态激光雷达（LiDAR）点云数据、惯性测量单元（IMU）数据以及真值位姿数据。所有序列中，漫游车均遵循约30米的固定轨迹行驶，而周边环境则存在差异。该统一轨迹可实现环境因素对感知与建图性能影响的直接对比分析。 下表列出了所有可用序列及其对应的仓库链接： 仓库 | DOI 立体标定图像 | https://zenodo.org/records/16728838 序列01 | https://zenodo.org/records/15737938 序列02 | https://zenodo.org/records/15744408 序列03 | https://zenodo.org/records/15744629 序列04 | https://zenodo.org/records/15745640 序列05 | https://zenodo.org/records/15745689 序列06 | https://zenodo.org/records/15745828 序列07 | https://zenodo.org/records/15745932 序列08 | https://zenodo.org/records/15746302 序列09 | https://zenodo.org/records/15746894 序列10 | https://zenodo.org/records/15747096 序列11 | https://zenodo.org/records/15747348 序列12 | https://zenodo.org/records/15747458