Point Cloud Dataset for GNSS–INS–ToF Multi-Sensor Pole (MSP)

This dataset contains a single CloudCompare BIN file (MSP.bin) that includes the reference RTC360 point cloud and the AP20-MSP and GS18I-MSP point clouds used in the accuracy evaluation. All point clouds are georeferenced in LV95. Cloud-to-cloud deviations from the reference are included as scalar fields, allowing users to inspect spatial errors directly. Raw ROS bags and imaging data are not included due to proprietary restrictions.