Walking dataset: [Google Drive] Park dataset: [Google Drive] Garden dataset: [Google Drive]

描述: The sensor suite used in this paper includes a Velodyne VLP-16 lidar, a MicroStrain 3DM-GX5-25 IMU, and a Reach MGPS. For validation, we collected 5 different datasets across various scales, platforms and environments. These datasets are referred to as Rotation, Walking, Campus, Park and Amsterdam, respectively.