Annotated ground truth for LiDAR SLAM loop closures
Abstract
This dataset contains annotated loop closures. Pair wise matching was performed manually, then with ICP for final refinement. Each ground truth edge provide two LiDAR point clouds and ground truth relative pose between them. Data was collected with handheld LiDAR LIVOX MID360 in the city center on pedestrian areas. It is compatible with MapsHD/HDMapping.
Fields of Study & Subjects
Robotics and Sensor-Based Localization
3D Surveying and Cultural Heritage
Autonomous Vehicle Technology and Safety
Publication details
- Journal / source
- Zenodo (CERN European Organization for Nuclear Research)
- Publication date
- 8 February 2026
- Document type
- Dataset