The Newer College dataset is recorded using a handheld platform equipped with an Ouster OS1-64 LiDAR. We present the LiDAR-inertial odometry accuracy using the LiDAR and its built-in IMU. The recommended parameters can be downloaded from here.

The Newer College Extension dataset is recorded using a handheld platform equipped with an Ouster OS0-128 LiDAR. We present the LiDAR-inertial odometry accuracy using the LiDAR and its built-in IMU. The recommended parameters for outdoor sequences can be downloaded from here. The recommended parameters for indoor sequences (Stairs, Mine-) can be downloaded from here.

The MCD dataset is recorded using Livox Mid70 and two types of Ouster LiDARs. In our paper, We have presented results using Mid70 LiDAR. Below are the results using either the OS1-64-VN200 or the OS1-128-VN100 LiDAR-inertial settings. The recommended parameters for KTH and TUHH sequences can be downloaded from here. The recommended parameters for NTU sequences can be downloaded from here.