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Users are strongly recommended to read through the User Manual. It will help clarify some technical details that can help avoid unnecessary errors when dealing with multi-modal data.

Calibration

The calibrated parameters for the sensorsuites are provided in the following yaml files:

All-Terrain Vehicle (for ntu_ sequences)

Handheld Setup (for kth_ and tuhh_ sequences)

ROS bags

The sequences are captured as rosbags, which are then compressed with bz2 method. User can uncompress the rosbags for less CPU usage at the cost of 3x memory storage. We also split the data into different bags based on the sensor type. User can freely select the combo that suits their interest. Ground truth is kept in a seperate folder. Please click on the figure to get the link to it.

# SeqID Ground Truth D435i D455 bottom D455 top Livox Ouster UWB VN100 VN200
0 ntu_day_01
Duration: 10m2s
Size: 41.5 GB		 ntu_day_01_gt d435i
(13.3 GB)		 d455b
(13.8 GB)		 - mid70
(542 MB)		 os1_128
(13.8 GB)		 ltpb
(1 MB)		 vn100
(32 MB)		 vn200
(54 MB)
1 ntu_day_02
Duration: 3m49s
Size: 14.8 GB		 ntu_day_02_gt d435i
(4.7 GB)		 d455b
(4.9 GB)		 - mid70
(196 MB)		 os1_128
(5.0 GB)		 ltpb
(400 KB)		 vn100
(12 MB)		 vn200
(25 MB)
2 ntu_day_10
Duration: 5m25s
Size: 20.9 GB		 ntu_day_10_gt d435i
(6.5 GB)		 d455b
(6.8 GB)		 - mid70
(294 MB)		 os1_128
(7.3 GB)		 ltpb
(602 KB)		 vn100
(18 MB)		 -
3 ntu_night_04
Duration: 4m57s
Size: 22.1 GB		 ntu_night_04_gt d435i
(6.7 GB)		 d455b
(8.4 GB)		 - mid70
(266 MB)		 os1_128
(6.7 GB)		 ltpb
(561 KB)		 vn100
(16 MB)		 vn200
(33 MB)
4 ntu_night_08
Duration: 7m47s
Size: 31.9 GB		 ntu_night_08_gt d435i
(8.0 GB)		 d455b
(12.9 GB)		 - mid70
(427 MB)		 os1_128
(10.5 GB)		 ltpb
(823 KB)		 vn100
(25 MB)		 vn200
(42 MB)
5 ntu_night_13
Duration: 3m54s
Size: 17.3 GB		 ntu_night_13_gt d435i
(5.5 GB)		 d455b
(6.6 GB)		 - mid70
(200 MB)		 os1_128
(5.0 GB)		 ltpb
(432 KB)		 vn100
(13 MB)		 vn200
(24 MB)
6 kth_day_06
Duration: 14m51s
Size: 43.0 GB		 kth_day_06_gt - d455b
(16.2 GB)		 d455t
(16.4 GB)		 mid70
(778 MB)		 os1_64
(9.6 GB)		 ltpb
(1 MB)		 - vn200
(56 MB)
7 kth_day_09
Duration: 12m47s
Size: 23.4 GB		 kth_day_09_gt - d455b
(7.1 GB)		 d455t
(7.3 GB)		 mid70
(687 MB)		 os1_64
(8.3 GB)		 ltpb
(1 MB)		 - vn200
(48 MB)
8 kth_day_10
Duration: 10m15s
Size: 27.3 GB		 kth_day_10_gt - d455b
(10.0 GB)		 d455t
(10.1 GB)		 mid70
(525 MB)		 os1_64
(6.7 GB)		 ltpb
(876 KB)		 - vn200
(38 MB)
9 kth_night_01
Duration: 16m9s
Size: 43.7 GB		 kth_night_01_gt - d455b
(18.0 GB)		 d455t
(14.5 GB)		 mid70
(855 MB)		 os1_64
(10.3 GB)		 ltpb
(1 MB)		 - vn200
(60 MB)
10 kth_night_04
Duration: 12m26s
Size: 14.9 GB		 kth_night_04_gt - d455b
(3.2 GB)		 d455t
(3.2 GB)		 mid70
(650 MB)		 os1_64
(7.8 GB)		 ltpb
(1 MB)		 - vn200
(47 MB)
11 kth_night_05
Duration: 11m5s
Size: 14.2 GB		 kth_night_05_gt - d455b
(3.3 GB)		 d455t
(3.3 GB)		 mid70
(576 MB)		 os1_64
(7.1 GB)		 ltpb
(944 KB)		 - vn200
(42 MB)
12 tuhh_day_02
Duration: 8m20s
Size: 29.5 GB		 tuhh_day_02_gt - d455b
(11.8 GB)		 d455t
(11.8 GB)		 mid70
(446 MB)		 os1_64
(5.5 GB)		 ltpb
(690 KB)		 - vn200
(31 MB)
13 tuhh_day_03
Duration: 13m59s
Size: 51.3 GB		 tuhh_day_03_gt - d455b
(20.5 GB)		 d455t
(20.6 GB)		 mid70
(761 MB)		 os1_64
(9.4 GB)		 ltpb
(1 MB)		 - vn200
(52 MB)
14 tuhh_day_04
Duration: 3m8s
Size: 12.5 GB		 tuhh_day_04_gt - d455b
(5.1 GB)		 d455t
(5.1 GB)		 mid70
(178 MB)		 os1_64
(2.2 GB)		 ltpb
(318 KB)		 - vn200
(12 MB)
15 tuhh_night_07
Duration: 7m24s
Size: 10.2 GB		 tuhh_night_07_gt - d455b
(2.3 GB)		 d455t
(2.6 GB)		 mid70
(388 MB)		 os1_64
(4.9 GB)		 ltpb
(623 KB)		 - vn200
(28 MB)
16 tuhh_night_08
Duration: 11m49s
Size: 16.8 GB		 tuhh_night_08_gt - d455b
(4.0 GB)		 d455t
(4.2 GB)		 mid70
(636 MB)		 os1_64
(7.9 GB)		 ltpb
(1 MB)		 - vn200
(44 MB)
17 tuhh_night_09
Duration: 3m5s
Size: 3.5 GB		 tuhh_night_09_gt - d455b
(632 MB)		 d455t
(605 MB)		 mid70
(176 MB)		 os1_64
(2.1 GB)		 ltpb
(312 KB)		 - vn200
(12 MB)