NAVER LABS Indoor dataset - LiDAR API

These dataset are obtained in realistic department store environments!

[Paper] [Related Video]

(This demo video is the case when the mode is set to both. Please refer to below instructions)

Descrptions

• Complex Indoor environments
• Hundreds of dynamic objects, i.e. humans
• For detailed explanations, please refer to NAVER LABS website
• Data can be downloaded here.
  • Unfortunately, as far as I know, HD Map & Localization Dataset request is available only to Korean researchers and organizations... :sob: .

Data format

data_path (`/nvlabs/abs_dir` in `launch/lidar_publisher.launch` file)
_____images
     |...
_____pointclouds_data
     |...
_____camera_parameters.txt
_____groundtruth.hdf5
_____map.pcd

In fact, it's quite complex to parsing data...But don't worry, I did!. You can just load poses and the corresponding lidar data easily as follows:

/***
* How to load the i-th point cloud
*/
pcl::PointCloud<PointType>::Ptr srcCloud(new pcl::PointCloud<PointType>);
*srcCloud = *loader.cloud(i);

/***
* How to load the i-th pose
*/
Eigen::Matrix4f pose = loader.pose(i);

Please refer to src/data_publisher.cpp.

How to Run

$ catkin build naverlabs_api
$ roslaunch naverlabs_api lidar_publisher.launch

Note that you can choose the lidar type among three modes, i.e. lidar0, lidar1, and both.

Also, other parameters are in launch/lidar_publisher.launch.

Applications

You can erase traces of dynamic objects by ERASOR.

(The below cyan points denote the traces by humans!)

Before the application	After the application