| --- |
| license: apache-2.0 |
| task_categories: |
| - any-to-any |
| language: |
| - en |
| tags: |
| - slam |
| - robotics |
| - dataset |
| - computer-vision |
| - sensor |
| - multimodal |
| pretty_name: smapper-light |
| size_categories: |
| - 10B<n<100B |
| --- |
| |
| # 📂 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. |
|
|
| --- |
|
|
| ## 🚀 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 |
|
|
| --- |
|
|
| ## 📊 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` |
|
|
| --- |
|
|
| ## 🔗 Links |
| - 📄 [SMapper Device Documentation](https://snt-arg.github.io/smapper_docs/) |
| - ⚙️ [SMapper Toolbox](https://github.com/snt-arg/smapper_toolbox) |
|
|
| --- |
|
|
| ## 📚 Citation |
| - 📄 [Pre-print](https://huggingface.co/papers/2509.09509) |
