List of Datasets

Automotive

HeLiPR

Heterogeneous lidar place recognition

Road-vehicle lidar collection with four different scanners, repeated urban routes and long-term revisits of MulRan sites.

Metadata: Complete Metadata curator reviewed Released 2023

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

Supplementary

Not reported

Quick facts

Vehicle type
Automotive
Environment
Outdoor
Data origin
Real-world
Sensor count
7
Ground truth
Available
Calibration
Partial Raw Data
Annotations
Not reported

Sensor overview

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

Cameras

Not reported

IMUs

1 reported

GNSS

1 reported

LiDAR

4 reported

Radar

Not reported

Magnetometers

1 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 RTK GNSS/INS with lidar-inertial extrinsic calibration · SPAN-CPT7 Not reported 50 Hz Unknown 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
No independently measured numeric trajectory accuracy is supplied; calibration and evaluation thresholds do not establish it.
Reference notes
One coherent RTK GNSS/INS reference transformed to each lidar using estimated extrinsics and B-spline interpolation. INS baseline is 50 Hz; four lidar-frame pose files correspond to their 10 Hz acquisition times. UTM positions plus quaternion; these files are not four independent reference systems.

Calibration and synchronization

Reported calibration level, reproducibility signals, and supporting notes.

Level
Partial Raw 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

Official release lists extrinsic parameters and two raw calibration bags for the four lidars. Complete raw coverage including IMU/INS calibration is not established.

Known or intentional limitations

Reported constraints and characteristics to check before using the dataset.

Different fields of view, scan densities and scan patterns impair cross-lidar descriptors.

VLP-16 self-occlusion and FMCW range noise must be considered.

Long-term index-04 sequences omit IMU measurements.

INS-based poses depend on interpolation and estimated calibration; no independent numeric accuracy is reported.

Aggregate distance differs between comparison table and detailed sequence tables.

Sequence count, distance and duration retain the analysed paper-table scope; later releases must not be mixed into these totals.

Official download access uses a form requesting name, email and affiliation and supplies links by email; no form was submitted.

Cameras

Not reported

IMUs

Xsens inertial stream

Model
Xsens MTi-300
Count
1
Accel / gyro
100 / 100 Hz

GNSS

SPAN-CPT7

Model or name
SPAN-CPT7
Count
1
Rate
50 Hz
GNSS type
GPS_IMU
Position output
Available
Velocity output
Available
Heading output
Available

LiDAR

Ouster OS2-128

Model or name
Ouster OS2-128
Count
1
Dimensions
3
Rate
10 Hz
Channels
128
Range
200 m

Velodyne VLP-16

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

Livox Avia

Model or name
Livox Avia
Count
1
Dimensions
3
Rate
10 Hz
Channels
6
Range
450 m

Aeva Aeries II

Model or name
Aeva Aeries II
Count
1
Dimensions
3
Rate
10 Hz
Channels
64
Range
150 m

Radar

Not reported

Additional sensors

Magnetometer

Name
Xsens magnetic-field output
Count
1
Notes
Magnetic-field columns share xsens_imu.csv. No standalone magnetometer model, count or channel-specific rate is established; index-04 coverage requires review.

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
jung2024helipr

BibTeX

@misc{jung2024helipr,
  title={HeLiPR: Heterogeneous LiDAR Dataset for inter-LiDAR Place Recognition under Spatiotemporal Variations},
  author={Jung, Minwoo and Yang, Wooseong and Lee, Dongjae and Gil, Hyeonjae and Kim, Giseop and Kim, Ayoung},
  year={2024},
  eprint={2309.14590},
  archivePrefix={arXiv},
  url={https://arxiv.org/abs/2309.14590v3}
}

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