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The GREAT dataset is a novel multi‑sensor (stereo camera, LiDAR, IMU) lunar surface dataset collected from a vehicle‑mounted platform in complex urban environments. It includes high‑precision multi‑frequency GNSS observations, tactical‑grade IMU, MEMS IMU, two CMOS cameras, and LiDAR. All sensors are hardware‑synchronized and well‑calibrated. The dataset comprises eight sequences covering the Wuhan University campus and surrounding urban/suburban areas, intended for evaluating multi‑sensor fusion navigation algorithms.
