DegLoc-Dataset

A Livox Avia LiDAR-inertial dataset collected in geometrically degenerate indoor/outdoor scenes — long corridors, open halls, staircases, and large flat squares/playgrounds — where point-to-plane / point-to-edge constraints become weak or ill-conditioned and LiDAR(-inertial) odometry is prone to drift.

GitHub: https://github.com/ygd551/DegLoc-Dataset

Overview

• Sensor: Livox Avia (non-repetitive scan LiDAR) with built-in IMU
• Format: ROS 1 bag files (.bag)
• Ground truth: not included — raw LiDAR + IMU only. Except for corridor1/corridor2, every sequence starts and ends at the same physical location, so accuracy is best evaluated with loop-closure error (start-to-end pose drift).
• Total size: ~13 GB across 24 sequences

Sensor setup

Topic	Type	Approx. rate	Content
/livox/lidar	livox_ros_driver/CustomMsg	~10 Hz	per-point timestamped point cloud (Livox custom message, not PointCloud2)
/livox/imu	sensor_msgs/Imu	~200 Hz	built-in IMU

Playing or parsing the bags requires the livox_ros_driver message definitions.

Sequences

Scene	Files	Description
Corridor	corridor1.bag, corridor2.bag, corridor_loop1.bag, corridor_loop2.bag	Long, feature-poor indoor corridor; _loop sequences walk out and back
Hall	hall1.bag – hall3.bag	Large indoor hall/lobby, sparse geometric features
Lab	lab1.bag – lab4.bag (+ lab.png)	Indoor lab room, smaller-scale structured scene
Playground	playground3.bag – playground7.bag	Outdoor open playground, few vertical structures
Square	square1.bag – square6.bag (+ square_pic1-3.png)	Outdoor open square/plaza
Stairs	stairs1.bag – stairs3.bag	Staircase ascent/descent, LiDAR pitch: 1 level throughout, 2 down descending / up ascending, 3 up descending / up ascending

corridor1 and corridor2 are one-way traversals. Every other sequence is a closed loop.

Download

pip install -U huggingface_hub

# whole dataset
hf download xiaoyaohexiaotao/DegLoc-Dataset --repo-type dataset --local-dir DegLoc-Dataset

# a single sequence
hf download xiaoyaohexiaotao/DegLoc-Dataset corridor1.bag --repo-type dataset --local-dir DegLoc-Dataset

In mainland China, prefix the command with HF_ENDPOINT=https://hf-mirror.com to use the mirror.

Quick start

rosbag info corridor1.bag
rosbag play corridor1.bag --clock