Bag files captured using a Clearpath Jackal Robot, which is equipped with a Velodyne VLP-16 and low-end IMU sensor. The published point cloud topic is /velodyne_points. The published IMU data topic is /imu/data.

Download the dataset at:

https://drive.google.com/drive/folders/1_t5fX5yIqY-y6sAifY8pVWX4O9LCK5R2?usp=sharing

The environment features trees, buildings and grass.

Thank you for citing our LeGO-LOAM paper if you use any of this dataset:

@inproceedings{legoloam2018,
  title={LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain},
  author={Tixiao Shan and Brendan Englot},
  booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={4758-4765},
  year={2018},
  organization={IEEE}
}