Mai City Dataset





Mai Dataset.md


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

Download

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