Corridor
- 1 minCorridor
This environment exists a highly-repetitive geometric structure, a typical degenerate scenario in LiDAR SLAM. Additionally, visual SLAM struggle in the long, dark corridors.
| Sequence | Duration (s) | Distance (m) | Difficulty | Description | Bag | Ground Truth |
|---|---|---|---|---|---|---|
| corridor_01 | 160.8 | 206.7 | ⭐⭐ | Day, U-shaped, no loop, passes through an atrium, includes slopes, dynamic (2 people), returns to start | OneDrive 百度网盘 | OneDrive 百度网盘 |
| corridor_02 | 195.3 | 219.4 | ⭐⭐⭐ | Night, alternating dim lighting, U-shaped, no loop, passes through an atrium, includes slopes, no dynamic elements, returns to start. | OneDrive 百度网盘 | OneDrive 百度网盘 |
| corridor_03 | 109.3 | 130.2 | ⭐⭐⭐ | Day, loop, one moving person, returns to start. | OneDrive 百度网盘 | OneDrive 百度网盘 |
| corridor_04 | 139.7 | 130.6 | ⭐⭐⭐⭐ | Night, alternating dim lighting, loop, no dynamic elements, returns to start. | OneDrive 百度网盘 | OneDrive 百度网盘 |