Sensors¶
This section provides detailed information about all the sensors used in the IILABS 3D dataset, including 3D LiDARs, 2D laser scanners, and inertial measurement units (IMUs).
For each sensor, we provide:
- Technical specifications
- Usage details within the dataset
- Manufacturer documentation
- 3D models (where available)
We organize the sensors into three main categories:
3D LiDARs¶
3D LiDAR sensors form the core of this benchmark. The dataset includes sequences from four different sensors, featuring both mechanical spinning and non-repetitive scanning designs.
2D Laser Scanners¶
The dataset includes data from a Hokuyo UST-10LX, a time-of-flight 2D laser scanner. It was used alongside a 2D navigation stack to ensure consistent trajectory patterns across all 3D LiDAR recordings.
Inertial Measurement Units (IMUs)¶
IMUs enable accurate motion tracking and orientation estimation, making them a valuable complementary sensor in SLAM applications. In our dataset we include data from the Xsens MTi-630 AHRS to benchmark SLAM performance with and without IMU sensor fusion.