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image imagewidth (px) 640 3.07k | label class label 8
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1seq_01_d1_indoor1 | |
2seq_02_d1_indoor2 | |
3seq_03_d1_indoor3 | |
4seq_04_d1_outdoor1 | |
5seq_05_d1_outdoor2 | |
6seq_06_d2_outdoor1 | |
7seq_07_d2_outdoor2 | |
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YAML Metadata Warning:empty or missing yaml metadata in repo card
Check out the documentation for more information.
NPU-SLAM Dataset
A LiDAR-Camera-Inertial SLAM dataset built for FAST-LIVO2, with STM32 hardware-triggered synchronization across a Livox Mid360 LiDAR and three cameras.
| Sensors | Livox Mid360 (LiDAR) · built-in IMU · 3× UVC camera (cam0 main, cam1/cam2 auxiliary) |
| Format | ROS1 bag rosbag2.0 |
| Frames | LiDAR 10 Hz, IMU 200 Hz, Cameras ~10 Hz (640×480) |
| Synchronization | STM32 hardware trigger, shared clock |
| License | CC BY 4.0 |
| Get the data | git clone https://huggingface.co/datasets/lan374/NPU-SLAM |
All camera frames are published on
image_syncedwith timestamps aligned to the LiDAR frames (hardware-triggered).
Devices
Two capture platforms:
| Device | Sequences |
|---|---|
 |
seq_01 – seq_05 |
 |
seq_06 – seq_07 |
Sequences
Covers indoor (scan / corridor) and outdoor (open area / between buildings) scenes for LiDAR-Camera-Inertial SLAM. Preview frames are sample cam0 images.
| Preview | Sequence (public / folder) | Scene | Duration | Size |
|---|---|---|---|---|
 |
seq_01_indoor1 / seq_01_d1_indoor1 |
indoor1 | ~104 s | 3.3 GB |
 |
seq_02_indoor2 / seq_02_d1_indoor2 |
indoor2 | ~96 s | 3.0 GB |
 |
seq_03_indoor3 / seq_03_d1_indoor3 |
indoor3 | ~574 s | 18.1 GB |
 |
seq_04_outdoor1 / seq_04_d1_outdoor1 |
outdoor1 | ~201 s | 6.3 GB |
 |
seq_05_outdoor2 / seq_05_d1_outdoor2 |
outdoor2 | ~178 s | 5.6 GB |
 |
seq_06_outdoor1 / seq_06_d2_outdoor1 |
outdoor1 | ~101 s | 2.4 GB |
 |
seq_07_outdoor2 / seq_07_d2_outdoor2 |
outdoor2 | ~171 s | 5.4 GB |
Each sequence folder contains:
data.bag—/livox/lidar(CustomMsg),/livox/imu,/camera/cam{0,1,2}/image_syncedinfo.yaml— topic counts, rate, duration, scene metadatasync_timestamps.csv— sync logpreview.jpg— a sample cam0 frame
Sensor Configuration
| Sensor | Model | Topic | Rate | Resolution |
|---|---|---|---|---|
| LiDAR | Livox Mid360 | /livox/lidar |
10 Hz | — |
| IMU | Mid360 built-in | /livox/imu |
200 Hz | — |
| Camera cam0 | UVC | /camera/cam0/image_synced |
~10 Hz | 640×480 |
| Camera cam1 | UVC | /camera/cam1/image_synced |
~10 Hz | 640×480 |
| Camera cam2 | UVC | /camera/cam2/image_synced |
~10 Hz | 640×480 |
Calibration
calibration/camera_intrinsics.yaml— camera intrinsicscalibration/lidar_camera_extrinsic.yaml— LiDAR–camera extrinsic (cam0 calibrated; cam1/cam2 pending FAST-Calib)calibration/imu_params.yaml— IMU parameters
Citation
If you use this dataset, please cite:
@misc{lan374NPUSLAM,
author = {Lan, ...},
title = {NPU-SLAM: LiDAR-Camera-Inertial SLAM Dataset},
year = {2026},
howpublished = {\url{https://huggingface.co/datasets/lan374/NPU-SLAM}},
}
Usage
The bags are directly in the repository. Play with FAST-LIVO2 (topics match mid360.yaml):
git clone https://huggingface.co/datasets/lan374/NPU-SLAM
cd NPU-SLAM
rosbag play sequences/seq_01_d1_indoor1/data.bag
roslaunch fast_livo mapping_mid360.launch
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