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