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

**URL:** https://discourse.paraview.org/t/seeking-3d-lidar-imu-datasets-for-slam-optimization-and-loop-closure-testing-in-lidarview-5-2-0/17454
**Category:** LidarView, Lidar, and SLAM
**Created:** [February 24, 2026, 12:57pm UTC](https://discourse.paraview.org/t/seeking-3d-lidar-imu-datasets-for-slam-optimization-and-loop-closure-testing-in-lidarview-5-2-0/17454 "2026-02-24T12:57:25Z")
**Posts on this page:** 3
**Page:** 1

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### Author: ![Jadid\_Tamayo](https://discourse.paraview.org/user_avatar/discourse.paraview.org/jadid_tamayo/32/17505_2.png) [@Jadid\_Tamayo](https://discourse.paraview.org/u/Jadid_Tamayo)
#### Post date: [February 24, 2026, 12:57pm UTC](https://discourse.paraview.org/t/seeking-3d-lidar-imu-datasets-for-slam-optimization-and-loop-closure-testing-in-lidarview-5-2-0/17454/1 "2026-02-24T12:57:25Z")

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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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### Author: ![Tong\_Fu](https://discourse.paraview.org/user_avatar/discourse.paraview.org/tong_fu/32/13154_2.png) [@Tong\_Fu](https://discourse.paraview.org/u/Tong_Fu)
#### Post date: [February 26, 2026, 10:02am UTC](https://discourse.paraview.org/t/seeking-3d-lidar-imu-datasets-for-slam-optimization-and-loop-closure-testing-in-lidarview-5-2-0/17454/2 "2026-02-26T10:02:17Z")

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

- IMU and INS test: [link](https://drive.google.com/drive/folders/1M_ODul2aITUIxRAuieARGO_N1wBuP8Lw?usp=sharing)
- Indoor and outdoor loop closure scene: [link](https://drive.google.com/drive/folders/1VvKBohDbhzmMj5lG5ZDpff2zCZVdldQB?usp=sharing).  
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](https://www.kitware.com/loop-closure-is-ready-to-use-in-lidarview/)

The IMU dataset is from the [Istanbul Open Dataset](https://autowarefoundation.github.io/autoware-documentation/main/datasets/#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](https://autowarefoundation.github.io/autoware-documentation/main/datasets/#istanbul-open-dataset).

I hope this will be helpful for your evaluation.

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### Author: ![Jadid\_Tamayo](https://discourse.paraview.org/user_avatar/discourse.paraview.org/jadid_tamayo/32/17505_2.png) [@Jadid\_Tamayo](https://discourse.paraview.org/u/Jadid_Tamayo)
#### Post date: [February 27, 2026, 6:53am UTC](https://discourse.paraview.org/t/seeking-3d-lidar-imu-datasets-for-slam-optimization-and-loop-closure-testing-in-lidarview-5-2-0/17454/3 "2026-02-27T06:53:32Z")

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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