Zust campus : a lightweight and practical LiDAR SLAM dataset for autonomous driving scenarios

Abstract

This research proposes a lightweight and applicable dataset with a precise elevation ground truth and extrinsic calibration toward the LiDAR (Light Detection and Ranging) SLAM (Simultaneous Localization and Mapping) task in the field of autonomous driving. Our dataset focuses on more cost-effective platforms with limited computational power and low-resolution three-dimensional LiDAR sensors (16-beam LiDAR), and fills the gaps in the existing literature. Our data include abundant scenarios that include degenerated environments, dynamic objects, and large slope terrain to facilitate the investigation of the performance of the SLAM system. We provided the ground truth pose from RTK-GPS and carefully rectified its elevation errors, and designed an extra method to evaluate the vertical drift. The module for calibrating the LiDAR and IMU was also enhanced to ensure the precision of point cloud data. The reliability and applicability of the dataset are fully tested through a series of experiments using several state-of-the-art LiDAR SLAM methods.