Handheld
ENWIDE
LiDAR-inertial odometry in geometrically degenerate environments
Ten handheld LiDAR/IMU sequences pair smooth and aggressive motion in five scenes, with external position references.
Access links
Primary places to inspect, download, read about, or reproduce the dataset.
Quick facts
- Vehicle type
- Handheld
- Environment
- Outdoor
- Data origin
- Real-world
- Sensor count
- 2
- Ground truth
- Available
- Calibration
- Parameters Only
- Annotations
- Not reported
Sensor overview
High-level sensor availability before the detailed sensor records below.
Ground truth
Reference scope, method, rate, coverage, and provenance.
| Scope | Method | Reference system | Count | Rate | Coverage |
Reference provenance
|
|---|---|---|---|---|---|---|
| 3D position | Total station | Leica MS60 · Leica MS60 | Not reported | Not reported | Unknown |
Reference provenance
External
|
|
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Calibration and synchronization
Reported calibration level, reproducibility signals, and supporting notes.
- Level
- Parameters Only
- Processed parameters
- Available
- Raw calibration data
- Not reported
- Calibration targets
- Not reported
Parameters only
Processed calibration parameters are reported, but raw calibration data is not reported.
Notes
Official page supplies CAD-derived IMU-to-prism extrinsics. Complete raw calibration sessions are unverified.
Known or intentional limitations
Reported constraints and characteristics to check before using the dataset.
Ten handheld runs pair smooth and dynamic motion in five environments. LiDAR intensity projections are not extra camera streams.
The internal IMU is recorded at 100 Hz; native accelerometer and gyroscope sampling are not separately documented.
Leica MS60 provides position rather than orientation. Reported approximately 3 cm precision is a source claim; timestamp gaps, reference coverage and achieved whole-run accuracy remain unverified.
The official dataset page assigns 2024 despite the 2023 preprint announcement. The Research Collection DOI returned a server error during this review; the maintained author page remains the download-access route.
Cameras
Not reported
IMUs
Ouster integrated IMU
- Model
- Not reported
- Count
- 1
- Accel / gyro
- Not reported
GNSS
Not reported
LiDAR
Ouster OS0-128 Rev D
- Model or name
- Ouster OS0-128 Rev D
- Count
- 1
- Dimensions
- 3
- Rate
- 10 Hz
- Channels
- 128
- Range
- Not reported
Radar
Not reported
Additional sensors
Not reported
Annotations
Reported annotation availability and task support.
- Availability
- Not reported
- Format
- Not reported
- Class count
- Not reported
Semantic segmentation
Not reported
Instance segmentation
Not reported
Object detection
Not reported
Optical flow
Not reported
Depth ground truth
Not reported
Citation
Citation key and BibTeX kept at the end of the page for reference.
@misc{pfreundschuh2023enwide,
author = {Patrick Pfreundschuh and Helen Oleynikova and Cesar Cadena and Roland Siegwart and Olov Andersson},
title = {COIN-LIO: Complementary Intensity-Augmented LiDAR Inertial Odometry},
year = {2023},
url = {https://arxiv.org/abs/2310.01235v4}
}Dataset corrections
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