MulRan
Notes on the Dataset
- Each sequence has to be requested individually by filling out a Google Form.
- There is one smaller sample sequence (Parking Lot) for which only one timestamp exists.
Detailed Information
| General Information | |
| Name | MulRan |
| Release Year | 2020 |
| Terms of Use | CC BY-NC-SA 4.0 |
| Access Requirements | Provide contact info |
| Dataset Size | 148.9 GB | Partial download is possible, i.e. the data is split into several files (e.g., epochs or data types) |
| Documentation | In-depth documentation of acquisition and characteristics of the dataset, e.g., via an explicit dataset paper or a comprehensive multi-page metadata document |
| Code | Yes |
| Applications | Long-term localization and mapping |
| Detailed Applications | Urban place recognition |
| Acquisition | |
| Number of Scenes | 4 |
| Number of Epochs per Scene (minimum) | 3 |
| Number of Epochs per Scene (median) | 3 |
| Number of Epochs per Scene (maximum) | 3 |
| General Scene Type | Urban |
| Specific Scene Type | City route |
| Location | Daejeon (South Korea)/Sejong (South Korea) |
| Acquisition Type | Mobile laser scanning |
| Acquisition Device | Ouster OS1-64 LiDAR |
| Acquisition Platform | Car |
| Scan Interval | Hours to Months | Educated guess by the authors |
| Acquisition Months | Janurary: 0 February: 0 March: 0 April: 0 May: 0 June: 2 July: 0 August: 8 September: 2 October: 0 November: 0 December: 0 |
| Representation | |
| Data Representation | Unstructured, globally aligned (e.g., point cloud or ray cloud) |
| Specific Data Representation | Point cloud |
| File Format/Encoding | LAS |
| Raw Data | Laser scans |
| Additional Data | Radar (polar/ray) | GPS | IMU |
| Coordinate System | 32652 |
| Quality and Usability | |
| Registration | Coarsely registered |
| Number of Partial Epochs | 12.50% |
| Unusable Data Reason | Not multi-temporal |
| Splits | No |
| Per-Point Attributes | |
| Intensity/Reflectivity | Yes |
| Color | No |
| Semantic Labels | - |
| Instance Labels | No |
| Change Labels | - |
| Statistics | |
| Number of Points per Epoch (minimum) | 20M |
| Number of Points per Epoch (median) | 31M |
| Number of Points per Epoch (maximum) | 78M |
| Avg. Point Spacing (minimum) | 4.3cm |
| Avg. Point Spacing (median) | 5.2cm |
| Avg. Point Spacing (maximum) | 6.6cm |
| Avg. Change Points per Epoch | - |
Paper Reference 1
@inproceedings{kim2020datasetmulran,
author = {Kim, Giseop and Park, Yeong Sang and Cho, Younghun and Jeong, Jinyong and Kim, Ayoung},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
title = {MulRan: Multimodal Range Dataset for Urban Place Recognition},
year = {2020},
pages = {6246--6253},
keywords = {Laser radar;Radar imaging;Three-dimensional displays;Urban areas;Simultaneous localization and mapping},
doi = {10.1109/ICRA40945.2020.9197298},
}