Dataset of Vehicle-based Mobile Mapping System | Otto Poon Charitable Foundation Smart Cities Research Institute

Dataset of Vehicle-based Mobile Mapping System

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A multi-sensor integrated dataset for high-precision mapping, including

High-precision LiDAR data
High-resolution images
High-precision positioning data

This dataset encompasses a wide range of scenarios, such as

Mountain tunnels
Underwater tunnels
Urban canyons
Parking lots

Introduction of Vehicle-mounted Mobile Mapping Systems

Data Acquisition Platform

The data acquisition platform is a mobile mapping vehicle developed by our team. The platform integrates a 128-channel LiDAR Velodyne VLS-128 with accuracy of 3 cm. A single-line LiDAR, namely the Riegl VUX-1HA, whose accuracy is up to 3 mm. It is also equipped with a Ladybug5+, a 6-lens panoramic camera with outstanding image quality. The NovAtel SPAN CPT7, a high-performance GNSS positioning and Inertial INS system with accuracy of centimeter-level and output frequency up to 100Hz, is mounted on the platform.

Dataset Structure

The data types within a dataset are crucial for application domains. The more diverse the data types in a dataset, the higher the potential for cross-domain applications. It's worth noting that the vehicle-mounted mobile mapping system dataset in this paper primarily comprises four types of data: point cloud, IMU data, GNSS data, and panoramic images.