---
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/)