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SMapper Light Dataset

SMapper light is a publicly available multimodal dataset collected using the SMapper platform, an open-hardware, multi-sensor device designed for SLAM (Simultaneous Localization and Mapping) research. The dataset provides 3D LiDAR, multi-camera, and IMU measurements, enabling benchmarking of visual, LiDAR, and visualโ€“inertial SLAM methods.

๐Ÿš€ Applications

SMapper light dataset can be used for:

  • Benchmarking LiDAR SLAM frameworks (e.g., Fast-LIO, S-Graphs)
  • Benchmarking Visual SLAM frameworks (e.g., ORB-SLAM3, vS-Graphs)
  • Benchmarking Multimodal SLAM frameworks

๐Ÿ“Š Dataset Overview

Scenario Instance Duration Size on Disk Description
Indoor IN_SMALL_01 01 m 29 s 5.7 GB Confined single-room environment
IN_MULTI_01 06 m 46 s 13.5 GB Multi-room linear trajectory
IN_MULTI_02 07 m 07 s 13.0 GB Multi-room with loop closure
IN_LARGE_01 09 m 30 s 57.9 GB Large-scale indoor with loop closure
Outdoor OUT_CAMPUS_01 04 m 57 s 36.4 GB Urban campus linear path
OUT_CAMPUS_02 05 m 15 s 37.8 GB Urban campus circular path
Total 35 m 04 s 164.3 GB

Info

The available topics can be found in here