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.本数据集包含单个CloudCompare二进制文件（CloudCompare BIN file）MSP.bin，其中涵盖了用于精度评估的参考RTC360点云、AP20-MSP点云以及GS18I-MSP点云。所有点云均采用LV95坐标系完成地理配准。各点云与参考点云间的偏差以标量场（scalar field）的形式存储，支持使用者直接检视空间误差。由于专有产权限制，原始ROS包（ROS bag）及成像数据未纳入本数据集。