The EDI Multi-Modal Simultaneous Localization and Mapping Dataset (EDI-SLAM)

Peteris Racinskis (), Gustavs Krasnikovs, Janis Arents and Modris Greitans
Additional contact information
Peteris Racinskis: Institute of Electronics and Computer Science (EDI), LV-1006 Riga, Latvia
Gustavs Krasnikovs: Institute of Electronics and Computer Science (EDI), LV-1006 Riga, Latvia
Janis Arents: Institute of Electronics and Computer Science (EDI), LV-1006 Riga, Latvia
Modris Greitans: Institute of Electronics and Computer Science (EDI), LV-1006 Riga, Latvia

Data, 2025, vol. 10, issue 1, 1-14

Abstract: This paper accompanies the initial public release of the EDI multi-modal SLAM dataset, a collection of long tracks recorded with a portable sensor package. These include two global shutter RGB camera feeds, LiDAR scans, as well as inertial and GNSS data from an RTK-enabled IMU-GNSS positioning module—both as satellite fixes and internally fused interpolated pose estimates. The tracks are formatted as ROS1 and ROS2 bags, with separately available calibration and ground truth data. In addition to the filtered positioning module outputs, a second form of sparse ground truth pose annotation is provided using independently surveyed visual fiducial markers as a reference. This enables the meaningful evaluation of systems that directly utilize data from the positioning module into their localization estimates, and serves as an alternative when the GNSS reference is disrupted by intermittent signals or multipath scattering. In this paper, we describe the methods used to collect the dataset, its contents, and its intended use.

Keywords: robotics; SLAM; computer vision; LiDAR; dataset; ROS (search for similar items in EconPapers)
JEL-codes: C8 C80 C81 C82 C83 (search for similar items in EconPapers)
Date: 2025
References: View complete reference list from CitEc
Citations:

Downloads: (external link)
https://www.mdpi.com/2306-5729/10/1/5/pdf (application/pdf)
https://www.mdpi.com/2306-5729/10/1/5/ (text/html)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:gam:jdataj:v:10:y:2025:i:1:p:5-:d:1562055

Access Statistics for this article

Data is currently edited by Ms. Cecilia Yang

More articles in Data from MDPI
Bibliographic data for series maintained by MDPI Indexing Manager ().