List of Datasets

Handheld, Quadruped, UGV, Automotive

FusionPortableV2

generalized SLAM; mapping; cross-platform perception

Four-platform frame/event/LiDAR/inertial collection with robot kinematics and sequence-dependent reference data.

Metadata: Complete Metadata source documented Released 2024

Primary places to inspect, download, read about, or reproduce the dataset.

Code

Not reported

Supplementary

Not reported

Quick facts

Vehicle type
Handheld, Quadruped, UGV, Automotive
Environment
Indoor, Outdoor
Data origin
Real-world
Sensor count
15
Ground truth
Available
Calibration
Full Raw Calibration Data
Annotations
Not reported

Sensor overview

High-level sensor availability before the detailed sensor records below.

Cameras

4 reported

IMUs

6 reported

GNSS

1 reported

LiDAR

1 reported

Radar

Not reported

Magnetometers

Not reported

Barometers

Not reported

UWB

Not reported

Ground truth

Reference scope, method, rate, coverage, and provenance.

Scope Method Reference system Count Rate Coverage Reference provenance
External
Measured using equipment independent of the platform’s normal onboard sensor pipeline.
Derived
Computed primarily from the dataset’s own recorded sensors.
Hybrid
Combines independent reference equipment with onboard measurements.
3D position Total station Tracked prism · Leica MS60 Not reported 20 Hz Partial Reference provenance
External
Measured using equipment independent of the platform’s normal onboard sensor pipeline.
Derived
Computed primarily from the dataset’s own recorded sensors.
Hybrid
Combines independent reference equipment with onboard measurements.
External
Accuracy notes
Reported 1 mm scanner/reference claim excludes unbounded interpolation, extrinsic and timing errors.
Reference notes
Handheld, legged and UGV transition positions: native 5–8 Hz, cubic-resampled to 20 Hz. Gaps over one second are omitted and offsets are fitted against SLAM.
6DoF GNSS / INS Dual-antenna GNSS/INS · 3DM-GQ7 Not reported 10 Hz Partial Reference provenance
External
Measured using equipment independent of the platform’s normal onboard sensor pipeline.
Derived
Computed primarily from the dataset’s own recorded sensors.
Hybrid
Combines independent reference equipment with onboard measurements.
Derived
Accuracy notes
Reported centimetre-level precision applies under RTK-fixed conditions, not every frame.
Reference notes
GNSS/INS reference for selected UGV and vehicle sequences reuses the released package. High-uncertainty poses are removed; 10 Hz output differs from maximum device capability.
3D position RTK GNSS Raw dual-antenna GNSS · 3DM-GQ7 Not reported 2 Hz Partial Reference provenance
External
Measured using equipment independent of the platform’s normal onboard sensor pipeline.
Derived
Computed primarily from the dataset’s own recorded sensors.
Hybrid
Combines independent reference equipment with onboard measurements.
Derived
Reference notes
Vehicle street00 and tunnel00 positions only; INS has not converged and receiver fixes can have gaps.
6DoF LiDAR SLAM FAST-LIO2 rooftop-GNSS constrained reference Not reported Not reported Partial Reference provenance
External
Measured using equipment independent of the platform’s normal onboard sensor pipeline.
Derived
Computed primarily from the dataset’s own recorded sensors.
Hybrid
Combines independent reference equipment with onboard measurements.
Derived
Reference notes
Vehicle multilayer00 reference uses input LiDAR/IMU with rooftop GNSS endpoint constraints.
Other Other Registered reference RGB point cloud maps · Leica RTC360 / BLK360 Not reported Not reported Partial Reference provenance
External
Measured using equipment independent of the platform’s normal onboard sensor pipeline.
Derived
Computed primarily from the dataset’s own recorded sensors.
Hybrid
Combines independent reference equipment with onboard measurements.
External
Reference notes
External reference maps for non-vehicle subsets. The campus 8 cm and garage 4 mm grid spacing describe map sampling, not measured accuracy.

Calibration and synchronization

Reported calibration level, reproducibility signals, and supporting notes.

Level
Full Raw Calibration Data
Processed parameters
Available
Raw calibration data
Available
Calibration targets
Not reported

Reproducible calibration data

Raw calibration data is reported, so users can reproduce or inspect the calibration process.

Notes

Sequence-linked dated calibration parameters and raw calibration data are documented; Kalibr, CAD, encoder and prism/LIO hand-eye procedures have different scopes.

Known or intentional limitations

Reported constraints and characteristics to check before using the dataset.

Twenty-seven recordings span four platform types; sensor availability and calibration depend on the platform and session.

DAVIS height wording conflicts between 240 and 260 pixels, so height remains unknown. Event packet publication is not a native event frame rate.

Total-station positions are natively about 5–8 Hz and resampled to 20 Hz with large gaps removed. GNSS/INS and LiDAR-derived alternatives cover different sequences and reuse input sensors.

FPGA/PPS alignment, ROS latency and unsynchronized auxiliary event frames describe different timing quantities. Static map grid spacing is not trajectory accuracy.

Cameras

Camera 1

Model
FLIR BFS-U3-31S4C
Setup
Stereo
Count
1
Effective cameras
2
Modality
Rgb
Resolution
1024 x 768
Rate
20 Hz
Shutter
Global
Lens type
Not Reported
HFOV
Not reported
VFOV
Not reported
Notes
One stereo system with platform-dependent baseline; the vehicle baseline is 83 cm.

Camera 2

Model
DAVIS346
Setup
Stereo
Count
1
Effective cameras
2
Modality
Event
Resolution
Not reported
Rate
Not reported
Shutter
Not Reported
Lens type
Not Reported
HFOV
Not reported
VFOV
Not reported
Notes
One stereo event system with two heads. Events are asynchronous; 30 Hz packets and 20 Hz auxiliary images are separate products. Printed height conflicts between 240 and 260 pixels; vehicle baseline is 73 cm.

IMUs

STIM300

Model
STIM300
Count
1
Accel / gyro
Not reported

Ouster OS1-128 integrated IMU

Model
ICM20948
Count
1
Accel / gyro
Not reported

Stereo DAVIS cameras integrated IMUs

Model
MPU6150
Count
2
Accel / gyro
Not reported

3DM-GQ7 integrated IMU

Model
Not reported
Count
1
Accel / gyro
Not reported

Unitree A1 built-in IMU

Model
Not reported
Count
1
Accel / gyro
Not reported

GNSS

3DM-GQ7

Model or name
3DM-GQ7
Count
1
Rate
Not reported
GNSS type
RTK
Position output
Available
Velocity output
Not reported
Heading output
Available

LiDAR

Ouster OS1-128 Gen5

Model or name
Ouster OS1-128 Gen5
Count
1
Dimensions
3
Rate
10 Hz
Channels
128
Range
Not reported

Radar

Not reported

Additional sensors

Wheel encoder

Model
Omron E6B2-CWZ6C
Count
2
Rate
100 Hz
Notes
Two UGV rear-wheel encoders; 1000 pulses per revolution. Absent from transition00/01.

Other sensor

Name
Unitree joint/contact telemetry
Count
1
Rate
50 Hz
Notes
Legged-platform motor position, velocity, torque, temperature and contact telemetry. Twelve motor channels do not establish the physical contact-sensor count.

Odometry

Name
Unitree kinematic–inertial odometry
Count
1
Rate
50 Hz
Notes
Derived legged body state; not an independent reference.

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.

Citation key
wei2024fusionportablev2

BibTeX

@misc{wei2024fusionportablev2,
  author = {Hexiang Wei and Jianhao Jiao and Xiangcheng Hu and Jingwen Yu and Xupeng Xie and Jin Wu and Yilong Zhu and Yuxuan Liu and Lujia Wang and Ming Liu},
  title = {FusionPortableV2: A Unified Multi-Sensor Dataset for Generalized SLAM Across Diverse Platforms and Scalable Environments},
  year = {2024},
  url = {https://arxiv.org/abs/2404.08563v2}
}

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