The Worldwide Journal of Robotics Analysis, Forward of Print.
The York College Teledyne Optech (YUTO) Cellular Mapping System (MMS) Dataset, encompassing 4 sequences totaling 20.1 km, was completely assembled by means of two knowledge assortment expeditions on August 12, 2020, and June 21, 2019. Acquisitions have been carried out utilizing a uniquely geared up car, fortified with a panoramic digital camera, a tilted LiDAR, a International Positioning System (GPS), and an Inertial Measurement Unit (IMU), journeying by means of two strategic places: the York College Keele Campus in Toronto and the Teledyne Optech headquarters in Metropolis of Vaughan, Canada. This paper not solely delineates the great overview of the YUTO MMS dataset, delving into features comparable to the gathering process, sensor configuration, synchronization, knowledge construction and format but in addition presents a strong benchmark of prevailing Simultaneous Localization and Mapping (SLAM) techniques. By subjecting them to evaluation using the launched dataset, this analysis lays a foundational baseline for ensuing research, thereby contributing to developments and enhancements within the SLAM-integrated cell mapping system. The dataset will be downloaded from: https://ausmlab.github.io/yutomms/.
发布者：Yiujia Zhang，转转请注明出处：https://robotalks.cn/yuto-mms-a-comprehensive-slam-dataset-for-urban-mobile-mapping-with-tilted-lidar-and-panoramic-camera-integration/
