FusionPortable: A Multi-Sensor Campus-Scene Dataset for Evaluation of Localization and Mapping Accuracy on Diverse Platforms

Jianhao Jiao,Hexiang Wei,Tianshuai Hu,Xiangcheng Hu,Yilong Zhu,Zhijian He,Jin Wu,Jingwen Yu,Xupeng Xie,Huaiyang Huang,Ruoyu Geng,Lujia Wang,Ming Liu,Jianhao Jiao,Hexiang Wei,Tianshuai Hu,Xiangcheng Hu,Yilong Zhu,Zhijian He,Jin Wu,Jingwen Yu,Xupeng Xie,Huaiyang Huang,Ruoyu Geng,Lujia Wang,Ming Liu

Combining multiple sensors enables a robot to maximize its perceptual awareness of environments and enhance its robustness to external disturbance, crucial to robotic navigation. This paper proposes the FusionPortable benchmark, a complete multi-sensor dataset with a diverse set of sequences for mobile robots. This paper presents three contributions. We first advance a portable and versatile multi...