Update README.md

README.md

@@ -14,4 +14,69 @@ tags:
 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     |                                    |
+
+If you want, I can also combine this with the supported topics list into a single clean README.md that’s ready to upload to HuggingFace. It would include dataset description, download info, usage, and sensor 
+
+### 📡 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)  
+
 ---