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license: gpl-3.0
viewer: false
task_categories:
- robotics
---
# RESPLE2 Datasets
This dataset accompanies the paper [RESPLE2: Inertial-Informed Recursive Non-Uniform Spline Estimation for Multi-Sensor Odometry with Global Refinement](https://arxiv.org/abs/2610.37602).
**Authors:** Ziyu Cao, William Talbot, Song Li, Pakpong Chirarattananon, Fredrik Gustafsson, Marco Hutter, and Kailai Li.
**Project website:** [RESPLE2](https://asig-x.github.io/resple2_web/)
**Code:** [ASIG-X/RESPLE2](https://github.com/ASIG-X/RESPLE2)
**Video:** [YouTube](https://youtu.be/6bgAY8SLhvw?si=aDmvlulrMJgGJ1EC)
The repository comprises two individual datasets recorded during our own experiments: HOPPER (aerial legged robot) and HANDI (handheld platform).
Please also refer to the other experimental dataset [PPS Tracked Vehicle](https://datasets.leggedrobotics.com/project/f44c68af-6827-4b16-bcd8-abf2d493eebb/missions) and the public datasets,
including the [GrandTour dataset](https://grand-tour.leggedrobotics.com/) and the [JEPLO dataset](https://asig-x.github.io/jeplo_web/) |