List of Datasets

Handheld, UGV, Marine surface, Automotive

GEODE

Robust heterogeneous-lidar localization in degenerate geometry

64 sequences across seven deliberately degenerate settings, collected by three lidar/stereo/inertial rigs on handheld, ground, boat and vehicle platforms; references vary by scene and one stair trajectory is unavailable.

Metadata: Complete Metadata curator reviewed Released 2024

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

Supplementary

Not reported

Quick facts

Vehicle type
Handheld, UGV, Marine surface, Automotive
Environment
Indoor, Outdoor
Data origin
Real-world
Sensor count
14
Ground truth
Available
Calibration
Parameters Only
Annotations
Not reported

Sensor overview

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

Cameras

6 reported

IMUs

5 reported

GNSS

Not reported

LiDAR

3 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.
6DoF GNSS / INS CHCNAV RTK-INS Not reported Not reported Partial · Offroad, Inland Waterways, Urban Tunnels and Bridges. 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.
Hybrid
Accuracy notes
Table lists 100 Hz/1 cm receiver capability; actual released output rate and achieved trajectory accuracy unvalidated.
Reference notes
Offroad/waterway/urban tunnel/bridge references; hand-eye and multi-lidar frame alignment, beta comparison frame for three-rig sequences. Model spelling differs: CGI610 in Table 2 versus CG610 in body; model field omitted.
6DoF Motion capture Vicon · Vero 2.2 Not reported Not reported Partial · Flat Surfaces. 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
330 Hz maximum and 1 mm system specification are not released reference rate or per-pose validation.
Reference notes
Flat-surface sequences; released reference rate unknown.
3D position Total station Leica laser tracker · Nova MS60 Not reported Not reported Partial · Metro Tunnels; Position-Only Reference. 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
10 Hz/1 mm tracker specification; exact release output rate and trajectory error unknown.
Reference notes
Metro sequences: tracked prism position only; compare estimates in alpha body frame with provided conversion tools.
6DoF LiDAR SLAM Reference map scanner · Leica RTC360 Not reported Not reported Partial · Stairs Alpha/Beta; Gamma Accurate Trajectory Unavailable. 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.
Hybrid
Accuracy notes
Map agreement shown for stair_bob; no uniform per-pose accuracy established.
Reference notes
Stair PALoc localization against RTC360 reference map; gamma/Livox accurate trajectory unavailable—use map comparison.
Other Other Reference map scanner · Leica RTC360 Not reported Not reported Partial · Stair Map Only. 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
Millimeter map/device claim, not full registered-map validation.
Reference notes
Provided stair reference map from RTC360; raw scanner input not established released.

Calibration and synchronization

Reported calibration level, reproducibility signals, and supporting notes.

Level
Parameters Only
Processed parameters
Available
Raw calibration data
Not reported
Calibration targets
12×9 checkerboard

Parameters only

Processed calibration parameters are reported, but raw calibration data is not reported.

Notes

imu_utils/LI-Init IMU calibration; MATLAB stereo and mechanical-lidar/camera; Kalibr camera/IMU; target-free Avia/camera. One-time device calibration can degrade over recording week; raw calibration release not established.

Known or intentional limitations

Reported constraints and characteristics to check before using the dataset.

Fixed camera exposure produces underexposure/poor visibility in dark and extreme-light scenes.

One-time calibration can drift during week-long recordings; sensor timestamps retain transmission/exposure-estimation offsets.

References differ by scene; metro truth is position-only and gamma stair trajectory is unavailable.

Reflections, sparse geometry, repetitive tunnels/bridges and dynamic vehicles challenge localization.

Totals describe the analysed 64-sequence collection. Reference availability, timing conflicts and device-model discrepancies remain under review; unknown precision is not a guarantee.

Cameras

Camera 1

Model
HikRobot MV-CS050-10GC
Setup
Stereo
Count
3
Effective cameras
6
Modality
Rgb
Resolution
1224 x 1024
Rate
10 Hz
Shutter
Global
Lens type
Not Reported
HFOV
Not reported
VFOV
Not reported
Notes
One stereo system on each of three acquisition rigs; count is across documented devices, not availability in every sequence. Fixed exposure underexposes dark scenes.

IMUs

Standalone rig IMUs

Model
Xsens MTi-30 AHRS
Count
3
Accel / gyro
100 / 100 Hz

Ouster-integrated IMU

Model
InvenSense ICM-20948
Count
1
Accel / gyro
100 / 100 Hz

Livox-integrated IMU

Model
BMI088
Count
1
Accel / gyro
200 / 200 Hz

GNSS

Not reported

LiDAR

Velodyne VLP-16

Model or name
Velodyne VLP-16
Count
1
Dimensions
3
Rate
10 Hz
Channels
16
Range
120 m

Ouster OS1-64

Model or name
Ouster OS1-64
Count
1
Dimensions
3
Rate
10 Hz
Channels
64
Range
100 m

Livox AVIA

Model or name
Livox AVIA
Count
1
Dimensions
3
Rate
10 Hz
Channels
Not reported
Range
450 m

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.

Citation key
chen2024geodev2

BibTeX

@misc{chen2024geodev2,
 title={Heterogeneous LiDAR Dataset for Benchmarking Robust Localization in Diverse Degenerate Scenarios},
 author={Chen, Zhiqiang and Qi, Yuhua and Feng, Dapeng and Zhuang, Xuebin and Chen, Hongbo and Hu, Xiangcheng and Wu, Jin and Peng, Kelin and Lu, Peng},
 year={2024},
 eprint={2409.04961},
 archivePrefix={arXiv},
 note={Selected version 2, dated 10 September 2024}
}

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