Seeking 3D LiDAR + IMU datasets for SLAM optimization and Loop Closure testing in LidarView 5.2.0

LidarView, Lidar, and SLAM
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Hi everyone,
I am currently evaluating LidarView’s 5.2.0 SLAM capabilities. I am looking for high-quality, publicly available .pcap datasets that include synchronized IMU data.
If anyone has links to datasets or specific .pcap samples known to work well with LidarView’s internal SLAM constraints, I would greatly appreciate it!

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Hello,
Thank you for testing LidarView’s SLAM capabilities.

  • IMU and INS test: link
  • Indoor and outdoor loop closure scene: link.
    The indoor scene was recorded with velodyne VLP-32C.
    The outdoor scene was captured with Hesai XT32. A blog post demonstrating the use of this dataset is also available here

The IMU dataset is from the Istanbul Open Dataset provided by Autoware. In the shared link, you can find:

  • A cropped .pcap file
  • IMU data
  • INS data
  • Sensor-to-LiDAR calibrations

I extracted the IMU data and calibration matrix from their ROS bag and converted the INS data into a SLAM-compatible format. This allows the dataset to be loaded directly into the LidarView SLAM filter.
The complete dataset is available on their website.

I hope this will be helpful for your evaluation.

3 Likes
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Thanks a lot for the links! I’ll give them a try and get back to you with some feedback soon