📂 SMapper-light Dataset

SMapper-light is a publicly available multimodal dataset collected using the SMapper platform, an open-hardware, multi-sensor device designed for SLAM (Simultaneous Localization and Mapping) research. The dataset provides synchronized LiDAR, multi-camera, and IMU measurements, enabling benchmarking of visual, LiDAR, and visual–inertial SLAM methods.

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🚀 Applications

SMapper-light can be used for:

• Benchmarking LiDAR SLAM frameworks (e.g., Fast-LIO, S-Graphs)
• Benchmarking Visual SLAM frameworks (e.g., ORB-SLAM3, vS-Graphs)
• Benchmarking Multimodal SLAM frameworks

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📊 Dataset Overview

Scenario	Instance	Duration	Size on Disk	Description
Indoor	IN_SMALL_01	01 m 29 s	5.7 GB	Confined single-room environment
	IN_MULTI_01	06 m 46 s	13.5 GB	Multi-room linear trajectory
	IN_MULTI_02	07 m 07 s	13.0 GB	Multi-room with loop closure
	IN_LARGE_01	09 m 30 s	57.9 GB	Large-scale indoor with loop closure
Outdoor	OUT_CAMPUS_01	04 m 57 s	36.4 GB	Urban campus linear path
	OUT_CAMPUS_02	05 m 15 s	37.8 GB	Urban campus circular path
Total	-	35 m 04 s	164.3 GB

📡 Available ROS 2 Topics

• Front Left Camera
  • /camera/front_left/camera_info
  • /camera/front_left/image_raw
• Front Right Camera
  • /camera/front_right/camera_info
  • /camera/front_right/image_raw
• Side Left Camera
  • /camera/side_left/camera_info
  • /camera/side_left/image_raw
• Side Right Camera
  • /camera/side_right/camera_info
  • /camera/side_right/image_raw
• Intel RealSense D435i
  • /camera/realsense/color/camera_info
  • /camera/realsense/color/image_raw
  • /camera/realsense/depth/camera_info
  • /camera/realsense/aligned_depth_to_color/camera_info
  • /camera/realsense/aligned_depth_to_color/image_raw
  • /camera/realsense/imu
• Ouster LiDAR (OS0-128)
  • /ouster/points
  • /ouster/imu
• Transforms
  • /tf_static

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🔗 Links

• 📄 SMapper Device Documentation
• ⚙️ SMapper Toolbox

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📚 Citation

• 📄 Pre-print