Datasets used in our paper

For some datasets that are available only in ROS bag format, we provide a conversion tool to convert ROS bags into TUM format data.

For datasets that lack CamBased data, such as TUM, we employ vid2e for CamBased generation. The corresponding ROS bags are available at [xxx].

MPL1

cali_bright_fast

cali_bright_mid

cali_bright_slow

table_bright_fast

table_bright_slow

MPL2

...

VECtor

board_slow

mountain_fast

desk_fast

robot_fast

robot_normal

sofa_fast

sofa_normal

TUM

fr2_desk

fr2_rpy