CBNU Omni-directional Vision and LiDAR Dataset

We provide a 360-Vision dataset by an autonmous ground vehicle. The proposed framework is implemented and tested on Hyundai i30 (Hyundai Motor Company, Seoul, South Korea). Platform is equipped with Ladybug 3 omni-directional camera, mounted on the center top of the platform while LiDAR is placed at top of Ladybug 3 camera as shown. The Novatel GPS is on the left side of the platform with dual antennas setup. The datasets contains the timely registered and synchronized measurement from Ladybug 3, 3D LiDAR, GPS and IMU. More specifically, data can be used for multi-camera visual odometry and SLAM, panoramic SLAM, Multi-camera and LiDAR based odometry and panoramic image based loop closure detection. Please site our dataset paper if you wish to use our dataset.