---
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.

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## 🚀 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`

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## 🔗 Links
- 📄 [SMapper Device Documentation](https://snt-arg.github.io/smapper_docs/)  
- ⚙️ [SMapper Toolbox](https://github.com/snt-arg/smapper_toolbox)  

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