UGV, Quadruped
NeBula Odometry (LOCUS 2.0)
Underground LiDAR odometry and resource-constrained SLAM
Husky and Spot NeBula recordings release LiDAR, inertial and odometry streams with map-localization references.
Access links
Primary places to inspect, download, read about, or reproduce the dataset.
Quick facts
- Vehicle type
- UGV, Quadruped
- Environment
- Indoor, Outdoor
- Data origin
- Real-world
- Sensor count
- 5
- Ground truth
- Available
- Calibration
- Not reported
- 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
|
|---|---|---|---|---|---|---|
| 6DoF | LiDAR SLAM | LOCUS 1.0 localization against survey maps | Not reported | Not reported | Unknown |
Reference provenance
Hybrid
|
|
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Calibration and synchronization
Reported calibration level, reproducibility signals, and supporting notes.
- Level
- Not reported
- Processed parameters
- Not reported
- Raw calibration data
- Not reported
- Calibration targets
- Not reported
Calibration data
Calibration reproducibility details are not reported.
Notes
Not reportedKnown or intentional limitations
Reported constraints and characteristics to check before using the dataset.
This entry describes the LiDAR odometry release accompanying LOCUS 2.0; later Hovermap material is not merged into its counts.
Husky and Spot use alternative one/three-LiDAR configurations. Camera and IMU physical counts/models are not established for every recording.
LOCUS localization against survey maps reuses recorded LiDAR, with manual tuning and corrections. It is not a wholly independent motion-capture trajectory.
Wheel-inertial odometry and IMU logging cadence are not native component rates. Aggregate totals and achieved reference accuracy remain unknown.
Cameras
Camera 1
- Model
- Not reported
- Setup
- Not Reported
- Count
- 1
- Effective cameras
- 1
- Modality
- Not Reported
- Resolution
- Not reported
- Rate
- Not reported
- Shutter
- Not Reported
- Lens type
- Not Reported
- HFOV
- Not reported
- VFOV
- Not reported
- Notes
- Camera streams are released, but model, count, setup, resolution and rate are unreported.
IMUs
Released inertial measurements
- Model
- Not reported
- Count
- 1
- Accel / gyro
- Not reported
GNSS
Not reported
LiDAR
Velodyne VLP16
- Model or name
- Velodyne VLP16
- Count
- 1
- Dimensions
- 3
- Rate
- 10 Hz
- Channels
- Not reported
- Range
- Not reported
Radar
Not reported
Additional sensors
Odometry
- Name
- Wheel-inertial odometry
- Count
- 1
- Rate
- 50 Hz
- Notes
- 50 Hz applies to wheel-inertial odometry; Spot KIO/VIO have unreported rates.
Odometry
- Name
- Spot KIO / VIO
- Count
- 1
- Notes
- Kinematic-inertial and visual-inertial readouts; cadence unreported.
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{reinke2022nebulaodometry,
author = {Andrzej Reinke and Matteo Palieri and Benjamin Morrell and Yun Chang and Kamak Ebadi and Luca Carlone and Ali-akbar Agha-mohammadi},
title = {LOCUS 2.0: Robust and Computationally Efficient Lidar Odometry for Real-Time 3D Mapping},
year = {2022},
url = {https://arxiv.org/abs/2205.11784v2}
}Dataset corrections
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