Datasets:
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---
license: apache-2.0
task_categories:
- any-to-any
language:
- en
tags:
- slam
- robotics
- dataset
- computer-vision
- sensor
- multimodal
pretty_name: smapper-light
size_categories:
- 10B<n<100B
---
# 📂 SMapper-light Dataset
**SMapper-light** is a publicly available multimodal dataset collected using the **SMapper platform**, an open-hardware, multi-sensor device designed for **SLAM (Simultaneous Localization and Mapping)** research.
The dataset provides synchronized **LiDAR, multi-camera, and IMU measurements**, enabling benchmarking of **visual, LiDAR, and visual–inertial SLAM** methods.
---
## 🚀 Applications
SMapper-light can be used for:
- Benchmarking **LiDAR SLAM** frameworks (e.g., Fast-LIO, S-Graphs)
- Benchmarking **Visual SLAM** frameworks (e.g., ORB-SLAM3, vS-Graphs)
- Benchmarking **Multimodal SLAM** frameworks
---
## 📊 Dataset Overview
| Scenario | Instance | Duration | Size on Disk | Description |
|-----------|-------------------|----------------|--------------|------------------------------------|
| **Indoor** | `IN_SMALL_01` | 01 m 29 s | 5.7 GB | Confined single-room environment |
| | `IN_MULTI_01` | 06 m 46 s | 13.5 GB | Multi-room linear trajectory |
| | `IN_MULTI_02` | 07 m 07 s | 13.0 GB | Multi-room with loop closure |
| | `IN_LARGE_01` | 09 m 30 s | 57.9 GB | Large-scale indoor with loop closure |
| **Outdoor** | `OUT_CAMPUS_01` | 04 m 57 s | 36.4 GB | Urban campus linear path |
| | `OUT_CAMPUS_02` | 05 m 15 s | 37.8 GB | Urban campus circular path |
| **Total** | - | 35 m 04 s | 164.3 GB | |
If you want, I can also combine this with the supported topics list into a single clean README.md that’s ready to upload to HuggingFace. It would include dataset description, download info, usage, and sensor
### 📡 Available ROS 2 Topics
- **Front Left Camera**
- `/camera/front_left/camera_info`
- `/camera/front_left/image_raw`
- **Front Right Camera**
- `/camera/front_right/camera_info`
- `/camera/front_right/image_raw`
- **Side Left Camera**
- `/camera/side_left/camera_info`
- `/camera/side_left/image_raw`
- **Side Right Camera**
- `/camera/side_right/camera_info`
- `/camera/side_right/image_raw`
- **Intel RealSense D435i**
- `/camera/realsense/color/camera_info`
- `/camera/realsense/color/image_raw`
- `/camera/realsense/depth/camera_info`
- `/camera/realsense/aligned_depth_to_color/camera_info`
- `/camera/realsense/aligned_depth_to_color/image_raw`
- `/camera/realsense/imu`
- **Ouster LiDAR (OS0-128)**
- `/ouster/points`
- `/ouster/imu`
- **Transforms**
- `/tf_static`
---
## 🔗 Links
- 📄 [SMapper Device Documentation](https://snt-arg.github.io/smapper_docs/)
- ⚙️ [SMapper Toolbox](https://github.com/snt-arg/smapper_toolbox)
--- |