Datasets:
metadata
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