MulRan (MulRan: Multimodal Range Dataset for Urban Place Recognition)
MulRan is a dataset for Place Recognition and SLAM. The datasets were recorded in urban areas and contain sensor data of a car that is equipped with a 3D LiDAR (OS1-64) and a rotating radar (Navtech CIR204-H). For each sequence, the car is revisiting places several times.
Papers
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