===== VLP16 Lidar Basement Dataset (for Voxblox) =====

This page is for a small dataset featuring a Velodyne 16 beam lidar being carried through a large buildings basement. It also contains a drifting estimate of the sensors pose that was obtained by running visual-inertial state estimation (ROVIO) on an attached VI sensor. This dataset was produced to demonstrate the capabilities of Voxblox and more specifically its ICP alignment module.

For more information on Voxblox see [[https://github.com/ethz-asl/voxblox|the Voxblox github page]].

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==== Structure of the Dataset ====
The bag information is as follows:
<code>
path:         basement_dataset.bag
version:      2.0
duration:     2:19s (139s)
start:        Aug 16 2018 10:31:41.91 (1534408301.91)
end:          Aug 16 2018 10:34:01.83 (1534408441.83)
size:         424.0 MB
messages:     10330
compression:  bz2 [1313/1313 chunks; 37.81%]
uncompressed:   1.1 GB @ 8.0 MB/s
compressed:   423.5 MB @ 3.0 MB/s (37.81%)
types:        sensor_msgs/PointCloud2 [1158d486dd51d683ce2f1be655c3c181]
              tf2_msgs/TFMessage      [94810edda583a504dfda3829e70d7eec]
topics:       /tf                8942 msgs    : tf2_msgs/TFMessage     
              /velodyne_points   1388 msgs    : sensor_msgs/PointCloud2
</code>

==== Download Links ====
[[http://robotics.ethz.ch/~asl-datasets/2018_basement_voxblox/basement_dataset.bag|basement_dataset.bag]] -- 0.44 GB -- the dataset as ROSBAG.