Mai Dataset
A synthetic dataset generated from a 3D CAD model in urban-like scenarios.
Description
The data was collected placing virtual sensors on the 3D cad model and, through ray-casting techniques, a LiDAR scan is obtained sampling the original mesh.
We provide 3 different sequences for now.
- 00: 700 m drive, at 10 m/s in an urban-like environment, data recorded with a virtual Velodyne HDl-64.
- 01: 100 m block of the mai_city_block model, data recorded with a virtual Velodyne HDl-64.
- 02: 100 m block of the mai_city_block model, data recorded with a virtual Velodyne-like LiDAR with 320 beams.
Ground truth poses are provided for all 3 sequences
Files
For simplicity, we use the same directory structure than the KITTI dataset. This way, our dataset can be used out-of-the-box in any application that is working with this KITTI.
We also provide a rosbag file for each sequences, and .ply files for all scans in the dataset
├── bags
├── bin
│ ├── poses
│ └── sequences
│ ├── 00
│ │ └── velodyne
│ ├── 01
│ │ └── velodyne
│ └── 02
│ └── velodyne
├── gt_models
└── ply
├── poses
└── sequences
├── 00
│ └── velodyne
├── 01
│ └── velodyne
└── 02
└── velodyne
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