snt-arg/smapper-light
📂 SMapper-light Dataset SMapper-light is a publicly available multimodal dataset collected using the SMapper platform, an open-hardware, multi-sensor device designed for SLAM (Simultaneous Localization and Mapping) research. The dataset provides synchronized LiDAR, multi-camera, and IMU measurements, enabling benchmarking of visual, LiDAR, and visual–inertial SLAM methods. 🚀 Applications SMapper-light can be used for: Benchmarking LiDAR SLAM frameworks (e.g.… See the full description on the dataset page: https://huggingface.co/datasets/snt-arg/smapper-light.
📂 SMapper-light Dataset
SMapper-light is a publicly available multimodal dataset collected using the SMapper platform, an open-hardware, multi-sensor device designed for SLAM (Simultaneous Localization and Mapping) research. The dataset provides synchronized LiDAR, multi-camera, and IMU measurements, enabling benchmarking of visual, LiDAR, and visual–inertial SLAM methods.
🚀 Applications
SMapper-light can be used for:
- Benchmarking LiDAR SLAM frameworks (e.g., Fast-LIO, S-Graphs)
- Benchmarking Visual SLAM frameworks (e.g., ORB-SLAM3, vS-Graphs)
- Benchmarking Multimodal SLAM frameworks
📊 Dataset Overview
📡 Available ROS 2 Topics
- Front Left Camera
/camera/front_left/camera_info/camera/front_left/image_raw- Front Right Camera
/camera/front_right/camera_info/camera/front_right/image_raw- Side Left Camera
/camera/side_left/camera_info/camera/side_left/image_raw- Side Right Camera
/camera/side_right/camera_info/camera/side_right/image_raw- Intel RealSense D435i
/camera/realsense/color/camera_info/camera/realsense/color/image_raw/camera/realsense/depth/camera_info/camera/realsense/aligned_depth_to_color/camera_info/camera/realsense/aligned_depth_to_color/image_raw/camera/realsense/imu- Ouster LiDAR (OS0-128)
/ouster/points/ouster/imu- Transforms
/tf_static