Full life cycle algorithm verification of three-dimensional lidar SLAM systems

This data set is designed to be suitable for full life cycle algorithm verification of three-dimensional lidar SLAM systems. There are two types of data sets: Ours data set and FullLifeCycle data set. The sensors of the Ours data set include 16-line lidar, IMU and RTK-GPS, and the sensors of the FullLifeCycle data set include 16-line lidar and IMU. The recording environment is an outdoor company building scene, including buildings, parking lots, dynamic objects, etc. It is a dynamic and complex scene.本数据集专为三维激光雷达同步定位与地图构建（Simultaneous Localization and Mapping, SLAM）系统的全生命周期算法验证而设计。数据集共分为两类：自有数据集（Ours Dataset）与全生命周期数据集（FullLifeCycle Dataset）。其中，自有数据集搭载的传感器包括16线激光雷达、惯性测量单元（Inertial Measurement Unit, IMU）以及实时动态差分全球定位系统（RTK-GPS）；全生命周期数据集的传感器配置为16线激光雷达与惯性测量单元（IMU）。该数据集的采集场景为户外公司楼宇环境，涵盖楼宇、停车场、动态目标等多种类型，属于动态复杂场景。