NAVER LABS Indoor dataset - LiDAR API

Dataset Description

• Environment Type: Complex indoor environment located in a real department store.
• Dynamic Objects: Contains hundreds of dynamic objects, such as humans.
• Data Download: The dataset can be downloaded via this link, but note that requests for the HD Map & Localization Dataset are limited to researchers and organizations in Korea.

Data Format

• File Structure:

  data_path (/nvlabs/abs_dir in launch/lidar_publisher.launch file) ├── images ├── pointclouds_data ├── camera_parameters.txt ├── groundtruth.hdf5 └── map.pcd

• Data Loading Example: cpp // 加载第i个点云数据 pcl::PointCloud::Ptr srcCloud(new pcl::PointCloud); *srcCloud = *loader.cloud(i);

  // 加载第i个位姿 Eigen::Matrix4f pose = loader.pose(i);

How to Run

• Build and Launch: bash $ catkin build naverlabs_api $ roslaunch naverlabs_api lidar_publisher.launch

• LiDAR Mode Selection: Users can choose among lidar0, lidar1, and both modes.

Applications

• Dynamic Object Processing: The ERASOR tool can be used to remove traces of dynamic objects.
• Effect Comparison:
  • Before processing: Traces of dynamic objects are visible.
  • After processing: Traces of dynamic objects are removed.