Open
- 1 minOpen
These sequences are collected along the shores of Bosten Lake in Xinjiang, China, and in the Urumqi gobi, which are uneven-terrain. Along the lakeshore, swaying reeds are abundant as unstable feature points, and LiDAR scans of the lake surface produce invalid reflections, which poses challenges for SLAM. The gobi is open and untraversed. Due to lack of distinctive features, Both LiDAR and visual SLAM often experience degradation.
| Sequence | Duration (s) | Distance (m) | Difficulty | Description | Bag | Ground Truth |
|---|---|---|---|---|---|---|
| open_01 | 156.4 | 128.6 | ⭐ | Along Bosten Lake, one-way, no reflection points on the left lake, unstable reed features on the right. | OneDrive 百度网盘 | OneDrive 百度网盘 |
| open_02 | 400.4 | 448.6 | ⭐ | Scenic area beach, one-way, partially closed umbrellas on the right, lake behind, mostly open sandy beach. | OneDrive 百度网盘 | OneDrive 百度网盘 |
| open_03 | 339.4 | 348.7 | ⭐ | One-way, some structured elements (houses/umbrellas) on the left, lake behind, entirely sandy terrain on the right. | OneDrive 百度网盘 | OneDrive 百度网盘 |
| open_04 | 122.2 | 140.4 | ⭐ | Short trip near the plant, semi-open environment, mostly flat gravel terrain, one-way, no loops. | OneDrive 百度网盘 | OneDrive 百度网盘 |
| open_05 | 577.6 | 645.4 | ⭐⭐ | Semi-open field, near an operation area, significant terrain variations, small loops. | OneDrive 百度网盘 | OneDrive 百度网盘 |
| open_06 | 196.2 | 201.8 | ⭐⭐⭐ | Along Bosten Lake, round-trip, no reflection points on the lake side, unstable reed features on the other, contains reverse loop. | OneDrive 百度网盘 | OneDrive 百度网盘 |
| open_07 | 752.1 | 893.3 | ⭐⭐⭐ | Long-distance straight-line travel, mostly flat gravel roads, open environment. | OneDrive 百度网盘 | OneDrive 百度网盘 |
| open_08 | 2511.4 | 2789.9 | ⭐⭐⭐⭐⭐ | Large-scale, ultra and long-distance, open scene + aggressive motion, desert/ice field/permafrost. | OneDrive 百度网盘 | OneDrive 百度网盘 |