DOI: 10.25835/0026408
title: i.c.sens Visual-Inertial-LiDAR Dataset

description: The _i.c.sens Visual-Inertial-LiDAR Dataset_ is a data set for the evaluation of dead reckoning or SLAM approaches in the context of mobile robotics. It consists of street-level monocular RGB camera images, a front-facing 180° point cloud, angular velocities, accelerations and an accurate ground truth trajectory. In total, we provide around 77 GB of data resulting from a 15 minutes drive, which is split into 8 rosbags of 2 minutes (10 GB) each. Besides, the intrinsic camera parameters and the extrinsic transformations between all sensor coordinate systems are given. Details on the data and its usage can be found in the provided [documentation file](https://data.uni-hannover.de/dataset/0bcea595-0786-44f6-a9e2-c26a779a004b/resource/d3e8b1e8-2c32-4747-908f-4619c22d5f69/download/documentation.pdf).

![](https://data.uni-hannover.de/dataset/0bcea595-0786-44f6-a9e2-c26a779a004b/resource/0ff90ef9-fa61-4ee3-b69e-eb6461abc57b/download/sensor_platform_small.jpg)

*Image credit: Sören Vogel*

The data set was acquired in the context of the measurement campaign described in [Schoen2018](https://doi.org/10.3390/s18072400). Here, a vehicle, which can be seen below, was equipped with a self-developed sensor platform and a commercially available Riegl VMX-250 Mobile Mapping System. This Mobile Mapping System consists of two laser scanners, a camera system and a localization unit containing a highly accurate GNSS/IMU system.

![](https://data.uni-hannover.de/dataset/0bcea595-0786-44f6-a9e2-c26a779a004b/resource/2a1226b8-8821-4c46-b411-7d63491963ed/download/vehicle_small.jpg)

*Image credit: Sören Vogel*

The data acquisition took place in May 2019 during a sunny day in the Nordstadt of Hannover ([coordinates](https://goo.gl/maps/o81D5awanuGbUgUu9): 52.388598, 9.716389). The route we took can be seen below. This route was completed three times in total, which amounts to a total driving time of 15 minutes.

![](https://data.uni-hannover.de/dataset/0bcea595-0786-44f6-a9e2-c26a779a004b/resource/8a570408-c392-4bd7-9c1e-26964f552d6c/download/google_earth_overview_small.png)

The self-developed sensor platform consists of several sensors. This dataset provides data from the following sensors:

* Velodyne HDL-64 __LiDAR__
* LORD MicroStrain 3DM-GQ4-45 GNSS aided __IMU__
* Pointgrey GS3-U3-23S6C-C __RGB camera__

To inspect the data, first start a rosmaster and launch rviz using the provided configuration file:

 roscore & rosrun rviz rviz -d icsens_data.rviz
Afterwards, start playing a rosbag with

 rosbag play icsens-visual-inertial-lidar-dataset-{number}.bag --clock

Below we provide some exemplary images and their corresponding point clouds.

![](https://data.uni-hannover.de/dataset/0bcea595-0786-44f6-a9e2-c26a779a004b/resource/dc1563c0-9b5f-4c84-b432-711916cb204c/download/combined_examples_small.jpg)

Related publications:
---------------------------

* R. Voges, C. S. Wieghardt, and B. Wagner, “Finding Timestamp Offsets for a Multi-Sensor System Using Sensor Observations,” Photogrammetric Engineering & Remote Sensing, vol. 84, no. 6, pp. 357–366, 2018.

* R. Voges and B. Wagner, “RGB-Laser Odometry Under Interval Uncertainty for Guaranteed Localization,” in Book of Abstracts of the 11th Summer Workshop on Interval Methods (SWIM 2018), Rostock, Germany, Jul. 2018.

* R. Voges and B. Wagner, “Timestamp Offset Calibration for an IMU-Camera System Under Interval Uncertainty,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, Oct. 2018.

* R. Voges and B. Wagner, “Extrinsic Calibration Between a 3D Laser Scanner and a Camera Under Interval Uncertainty,” in Book of Abstracts of the 12th Summer Workshop on Interval Methods (SWIM 2019), Palaiseau, France, Jul. 2019.

* R. Voges, B. Wagner, and V. Kreinovich, “Efficient Algorithms for Synchronizing Localization Sensors Under Interval Uncertainty,” Reliable Computing (Interval Computations), vol. 27, no. 1, pp. 1–11, 2020.

* R. Voges, B. Wagner, and V. Kreinovich, “Odometry under Interval Uncertainty: Towards Optimal Algorithms, with Potential Application to Self-Driving Cars and Mobile Robots,” Reliable Computing (Interval Computations), vol. 27, no. 1, pp. 12–20, 2020.

* R. Voges and B. Wagner, “Set-Membership Extrinsic Calibration of a 3D LiDAR and a Camera,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, NV, USA, Oct. 2020, accepted.

* R. Voges, “Bounded-Error Visual-LiDAR Odometry on Mobile Robots Under Consideration of Spatiotemporal Uncertainties,” PhD thesis, Gottfried Wilhelm Leibniz Universität, 2020.