LiDAR-IMU Mapping Test with Various Range Sensors

This is a set of LiDAR-IMU mapping test sequences recorded with various range sensors. - Ouster OS0-32 & OS0-64 - Livox Avia - Intel Realsense L515 & D455 - Microsoft Azure Kinect - Stereolabs ZED2i The groundtruth IMU trajectories (gt.tar.gz) are estimated by a batch LiDAR-IMU optimization that aligns point cloud scans with an environmental map (map_e232b.las) recorded with a survey-grade LiDAR (FARO Focus).本数据集为一组搭载多款测距传感器采集的激光雷达-惯性测量单元（LiDAR-IMU）建图测试序列，所用传感器涵盖：Ouster OS0-32与OS0-64、Livox Avia、英特尔RealSense L515及D455、微软Azure Kinect、Stereolabs ZED2i。数据集的惯性测量单元真值轨迹（压缩包gt.tar.gz）通过批量激光雷达-惯性测量单元优化方法估算得到：该方法将点云扫描帧与通过测绘级激光雷达（FARO Focus）采集的环境地图（map_e232b.las）进行配准对齐。