Update README.md

README.md

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----
-license: cc
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+## UT-MM Dataset
+
+To access our dataset, visit [Hugging Face](https://huggingface.co/datasets/neel1302/UT-MM/tree/main). To see videos of the content, please visit our [[Project Page]](https://vita-group.github.io/MM3DGS-SLAM/).
+
+A script to convert the UT-MM rosbag data to usable .txt files is included in
+`scripts/bag2data.py` at [this repository](https://github.com/VITA-Group/MM3DGS-SLAM). Note that [ROS](https://wiki.ros.org/ROS/Installation)
+is required to read the camera-to-imu transformation.
+
+```shell
+python scripts/bag2data.py --path <rosbag dir path> --scene <scene name>
+```
+However, the transformation is constant between our datasets, which we have provided.
+```
+./tf/tf.txt
+```
+
+<details>
+<summary><span style="font-weight: bold;">Command Line Arguments for scripts/bag2data.py</span></summary>
+
+#### --path
+
+Path to the directory containing rosbags
+
+#### --scene
+
+Name of the scene to read
+
+</details>
+<br>
+
+### Rosbag topics
+
+Combined, the datasets contain 8387 images, 2796 LiDAR scans, and 27971 IMU measurements. The following is a quick overview of the topics that can be found within each bag file:
+
+```
+/vrpn_client_node/Jackal_Latest/pose   : geometry_msgs/PoseStamped (Pose Coordinates, 100hz)
+/realsense/color/image_raw/compressed  : sensor_msgs/CompressedImage (RGB Image, 30hz)
+/realsense/depth/image_rect_raw        : sensor_msgs/Image (Depth Image, 30hz)
+/microstrain/imu/data                  : sensor_msgs/Imu (Imu Measurements, 100hz)
+/ouster/points                         : sensor_msgs/PointCloud2 (LiDAR Point Clouds, 10hz)
+```
+
+To visualize the dataset, ROS is needed. Some scripts are provided in the UT_MM_Scripts directory.
+
+```
+roscore
+
+rosrun rviz rviz -d UT_MM_Scripts/configs/jackal.rviz
+
+rqt --clear-config --perspective-file UT_MM_Scripts/configs/rqt_plots.perspective
+
+rosbag play --clock *.bag --pause
+
+python3 imu_preintegration.py
+```
+
+<br>
+
+## Citation
+
+If you find our paper useful or interesting, please consider giving a star ⭐ and citing the following paper 📝.
+
+```bibtex
+@misc{sun2024mm3dgs,
+      title={MM3DGS SLAM: Multi-modal 3D Gaussian Splatting for SLAM Using Vision, Depth, and Inertial Measurements},
+      author={Lisong C. Sun and Neel P. Bhatt and Jonathan C. Liu and Zhiwen Fan and Zhangyang Wang and Todd E. Humphreys and Ufuk Topcu},
+      year={2024},
+      eprint={2404.00923},
+      archivePrefix={arXiv},
+      primaryClass={cs.CV}
+}
+```
+
+---
+license: cc
+---