Mobile Robot Campus Dataset (MRCD)

The Mobile Robot Campus Dataset (MRCD) was recorded on the TU Hamburg campus using "Laura," a mobile robot platform equipped with high-end sensors including LiDAR, stereo cameras, IMU, and RTK-GNSS. The dataset captures over 1 hour of real-world driving across 2.9 km of diverse pedestrian environments featuring vegetation, cobblestones, elevation changes, and urban structures. With precise calibration, anonymized visual data, and high-frequency sensor streams, MRCD is ideal for benchmarking SLAM, navigation, and perception algorithms. Ground truth is provided through continuous-time LiDAR registration against a high-resolution 3D map of the environment.

移动机器人校园数据集（Mobile Robot Campus Dataset，MRCD）由搭载激光雷达（LiDAR）、立体相机、惯性测量单元（IMU）以及实时动态差分全球导航卫星系统（RTK-GNSS）的移动机器人平台“Laura”，在汉堡工业大学（TU Hamburg）校园内采集录制。该数据集包含总时长超1小时的真实场景行驶数据，行驶总里程达2.9公里，涵盖植被、鹅卵石路面、高程变化及城市建筑等多样化的行人通行环境。凭借精准的传感器标定、匿名化视觉数据与高频传感器数据流，MRCD可作为同步定位与地图构建（Simultaneous Localization and Mapping，SLAM）、导航及感知算法的理想基准测试数据集。数据集通过基于环境高分辨率三维地图的连续时间激光雷达配准，提供了精确的真值标注。