The dataset viewer is not available for this split.
Error code: StreamingRowsError
Exception: UnidentifiedImageError
Message: cannot identify image file <_io.BytesIO object at 0x7f38c33e6d40>
Traceback: Traceback (most recent call last):
File "/src/services/worker/src/worker/utils.py", line 99, in get_rows_or_raise
return get_rows(
^^^^^^^^^
File "/src/libs/libcommon/src/libcommon/utils.py", line 272, in decorator
return func(*args, **kwargs)
^^^^^^^^^^^^^^^^^^^^^
File "/src/services/worker/src/worker/utils.py", line 77, in get_rows
rows_plus_one = list(itertools.islice(ds, rows_max_number + 1))
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 2690, in __iter__
for key, example in ex_iterable:
^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 2240, in __iter__
example = _apply_feature_types_on_example(
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 2159, in _apply_feature_types_on_example
decoded_example = features.decode_example(encoded_example, token_per_repo_id=token_per_repo_id)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/features/features.py", line 2204, in decode_example
column_name: decode_nested_example(feature, value, token_per_repo_id=token_per_repo_id)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/features/features.py", line 1508, in decode_nested_example
return schema.decode_example(obj, token_per_repo_id=token_per_repo_id) if obj is not None else None
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/features/image.py", line 190, in decode_example
image = PIL.Image.open(bytes_)
^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/PIL/Image.py", line 3498, in open
raise UnidentifiedImageError(msg)
PIL.UnidentifiedImageError: cannot identify image file <_io.BytesIO object at 0x7f38c33e6d40>Need help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
RTK-SLAM Dataset
An RTK-SLAM Dataset for Absolute Accuracy Evaluation in GNSS-Degraded Environments
Wei Zhang, Vincent Ress, David Skuddis, Uwe Soergel, Norbert Haala
Institute for Photogrammetry and Geoinformatics, University of Stuttgart, Germany
Overview
This dataset is designed for evaluating the absolute global positioning accuracy of RTK-SLAM systems in GNSS-degraded and GNSS-denied environments. A key design principle is that the RTK receiver is used exclusively as a system input, while ground truth is established independently via a geodetic total station. This separation is absent from all existing datasets.
Standard SLAM benchmarks evaluate accuracy using SE(3)-aligned ATE, which absorbs global drift and can underestimate absolute errors by up to 76%. This dataset enables direct evaluation without SE(3) alignment.
Sensor Platform
A handheld device comprising:
| Sensor | Model | Rate |
|---|---|---|
| LiDAR + IMU | Livox MID360 | 10 Hz / 200 Hz |
| Camera | 2 MP global shutter | 20 Hz |
| GNSS receiver | Unicore UM980 | 10 Hz |
RTK corrections provided by the German SAPOS service (centimeter-level accuracy under open sky).
Sequences
| Sequence | Duration | Length | RTK Fix | Checkpoints | Type |
|---|---|---|---|---|---|
| Stadtgarten Seq. 1 | 26 min 42 s | 1.04 km | 54% | 36 | Outdoor park |
| Stadtgarten Seq. 2 | 14 min 36 s | 0.46 km | 40% | 19 | Outdoor park |
| Construction Hall Seq. 1 | 12 min 21 s | 0.48 km | 25% | 16 | Outdoor + Indoor |
| Construction Hall Seq. 2 | 9 min 59 s | 0.39 km | 23% | 16 | Outdoor + Indoor |
Stadtgarten: Public park in Stuttgart with open-sky areas, tree cover, building obstruction, and a 30 m GNSS-denied underpass.
Construction Hall: Large construction site (IntCDC, University of Stuttgart) with short outdoor segments and a GNSS-denied indoor hall spanning 400+ s of travel.
Repository Structure
rtk-slam-dataset/
├── ros1/ # ROS1 (.bag) format
│ ├── construction_seq1.bag
│ ├── construction_seq2.bag
│ ├── stadtgarten_seq1.bag
│ └── stadtgarten_seq2.bag
├── ros2/ # ROS2 (.db3) format
│ ├── construction_seq1/
│ ├── construction_seq2/
│ ├── stadtgarten_seq1/
│ └── stadtgarten_seq2/
└── euroc/ # Extended EuRoC format (compatible with OKVIS2-X)
├── construction_seq1_euroc.zip
├── construction_seq2_euroc.zip
├── stadtgarten_seq1_euroc.zip
└── stadtgarten_seq2_euroc.zip
ROS Topics
| Topic | Type | Rate |
|---|---|---|
/livox/lidar |
livox_ros_driver/CustomMsg |
10 Hz |
/livox/points |
sensor_msgs/PointCloud2 |
10 Hz |
/livox/imu |
sensor_msgs/Imu |
200 Hz |
/camera/image_raw/compressed |
sensor_msgs/CompressedImage |
20 Hz |
/gnss/fix |
sensor_msgs/NavSatFix |
10 Hz |
Note on camera timestamps: The camera has a hardware trigger delay of −20.6 ms relative to the IMU clock (estimated by Kalibr). This offset is already compensated in all released formats — camera image timestamps in the ROS bags and EuRoC files reflect the corrected capture time. No additional time shift is needed when using this data.
Privacy
All camera images were anonymized prior to release by blurring human faces using deface.
Citation
@article{zhang2025rtkslam,
title = {An RTK-SLAM Dataset for Absolute Accuracy Evaluation in GNSS-Degraded Environments},
author = {Zhang, Wei and Ress, Vincent and Skuddis, David and Soergel, Uwe and Haala, Norbert},
journal = {ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences},
year = {2025},
}
License
This dataset is released under CC BY 4.0.
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