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FMCW-LIO Dataset
The collected FMCW Doppler LiDAR-inertial dataset (FMCW-LIO Dataset) in FMCW-LIO (DOI | Project Page) is available here and on Google Drive. The characteristics of each sequence are summarized in the following table. All sequences are start-end aligned, all returning to starting points, making end-to-end distance (E2E) a measure of drifted error.
| Sequence | Preview | FMCW-LIO Map | Platform | Distance (m) | Duration (s) |
|---|---|---|---|---|---|
| FMCW-LIO_campus_01 |  |
 |
Handheld | 425 | 347 |
| FMCW-LIO_street_01 |  |
 |
Handheld | 183 | 177 |
| FMCW-LIO_tunnel_01 |  |
 |
Handheld | 1127 | 709 |
| FMCW-LIO_tunnel_03 |  |
 |
Handheld | 280 | 171 |
| FMCW-LIO_stpaul_01 |  |
 |
Handheld | 238 | 200 |
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