joe3012/glasgow-extreme-lighting-slam-dataset

This dataset contains 8 stereo camera (+LiDAR not yet uploaded) robot driving sequences with ground truth pose data recorded using a Vive VR trackers and lighthouses. The structure follows that of the KITTI visual odometry sequences, with the sequences directory containing the left and right stereo images under image_2 and image_3 and the poses directory containing the ground truth poses in .txt files as flattened row-major 4x3 transformation matrices