Urban
- 1 minUrban
The urban sequences are collected in Shenyang, China, including numerous highly-dynamic objects and various types of vehicles, which is a prominent research topic in SLAM. It comprises two sequences over 2 km, where many algorithms exhibit significant Z-axis drift.
| Sequence | Duration (s) | Distance (m) | Difficulty | Description | Bag | Ground Truth |
|---|---|---|---|---|---|---|
| urban_01 | 674.4 | 785.4 | ⭐⭐ | Afternoon, urban environment, high dynamics, slight visual overexposure. | OneDrive 百度网盘 | OneDrive 百度网盘 |
| urban_02 | 1075.6 | 1217.5 | ⭐⭐⭐⭐ | Afternoon, urban environment, high dynamics, passes a short tunnel, then descends a large slope into the park. | OneDrive 百度网盘 | OneDrive 百度网盘 |
| urban_03 | 454.9 | 528.3 | ⭐⭐⭐⭐ | Afternoon, good lighting, smooth road, passes a short tunnel, medium dynamics. | OneDrive 百度网盘 | OneDrive 百度网盘 |
| urban_04 | 1896.0 | 2430.9 | ⭐⭐⭐⭐⭐ | Large-scale loop (~2.4km), high dynamics, includes at least 3 buses. | OneDrive 百度网盘 | OneDrive 百度网盘 |
| urban_05 | 2476.6 | 2807.9 | ⭐⭐⭐⭐⭐ | Large-scale loop (~3km), high dynamics, forward/reverse loops. | OneDrive 百度网盘 | OneDrive 百度网盘 |