---
license: cc-by-4.0
language:
- zh
- en
viewer: false
tags:
- point-cloud
- lidar
- SLAM
- robot
- rosbag
- elevator
size_categories:
- 10G<n<100G
pretty_name: Elevator-LIO Dataset
---

# Elevator-LIO Dataset

面向电梯非惯性运动和跨楼层定位的 LiDAR-惯性里程计数据集。包含 **20 条自采真实场景序列**，涵盖 **79 次电梯乘坐**，场景包括办公楼、宿舍、校园、商场等环境。

A LiDAR-inertial odometry dataset for elevator-induced non-inertial motion and multi-floor localization. It contains **20 self-collected real-world sequences** with **79 elevator rides** across office, dormitory, campus, and mall environments.

![数据集概览 / Dataset Overview](https://huggingface.co/datasets/xiaofan0100/Elevator-LIO-Dataset/resolve/main/images/dataset2.jpg)

---

## 社区贡献 / Community Contributions

我们很期待社区贡献者将自己的电梯相关 rosbag 发布到本数据集上。
We welcome community contributors to share their own elevator-related rosbag files through this dataset.  

| Item | Description |
|------|------|
| Storage path | `community_contributions/` |
| Contact | xiaofan@sjtu.edu.cn |


社区贡献数据会被放置在 `community_contributions/` 中，并在此处列出贡献者信息。
Community-contributed data will be placed under `community_contributions/` and listed here with contributor information.  

| Contributor | Platform / ID |
|------|------|
| @编程猫小渐 | 小红书 9556244270 |

---

## 数据概览 / Dataset Overview

| 序列 Sequence | 文件 Files | 场景 Scene |
|------|------|------|
| Campus 1-4 | `Campus*.bag` | 校园 / Campus |
| Dormitory 1-4 | `Dormitory*.bag` | 宿舍楼 / Dormitory |
| Mall 1-2 | `Mall*.bag` | 商场 / Shopping Mall |
| Office 1-10 | `Office*.bag` | 办公楼 / Office Building |

覆盖场景：大规模跨楼层建图、长距离垂直位移、电梯轿厢内手持晃动、动态行人、镜面内饰。

Covered scenarios: large-scale multi-floor mapping, long vertical travel, handheld motion in elevator cabins, dynamic pedestrians, mirrored interiors.

---

## 传感器配置 / Sensor Setup

| Component | Description |
|------|------|
| LiDAR | Livox MID-360 with built-in IMU |
| Camera | Synchronized industrial camera |
| Compute | Jetson Orin Nano |
| Data format | ROS bag |

---

## 内外参 / Calibration

The calibration file is provided as:

```text
calibration_offsets.yaml
```

The transform convention is:

```text
p_target = target_R_source * p_source + target_t_source
```

| Field | Meaning | Direction |
|------|------|------|
| `imu_R_lidar`, `imu_t_lidar` | LiDAR pose in IMU frame / IMU 系下激光雷达位姿 | LiDAR to IMU |
| `lidar_R_vehicle`, `lidar_t_vehicle` | Vehicle center pose in LiDAR frame / LiDAR 系下小车中心位姿 | Vehicle to LiDAR |
| `cam_R_lidar`, `cam_t_lidar` | LiDAR pose in camera frame / Camera 系下激光雷达位姿 | LiDAR to Camera |
| `camera.K` | Camera intrinsic matrix / 相机内参矩阵 | Camera model |
| `camera.dist` | OpenCV distortion coefficients `k1, k2, p1, p2, k3` / 畸变参数 | Camera model |

```yaml
extrinsic:
  # IMU系下激光雷达的位置
  imu_t_lidar: [-0.011, -0.02329, 0.04412]
  imu_R_lidar:
    - [1.0, 0.0, 0.0]
    - [0.0, 1.0, 0.0]
    - [0.0, 0.0, 1.0]

  # Lidar系下小车中心的位置
  lidar_t_vehicle: [-0.2, 0.0, -0.15]
  # Lidar系下小车的旋转
  lidar_R_vehicle:
    - [0.0, -1.0, 0.0]
    - [1.0, 0.0, 0.0]
    - [0.0, 0.0, 1.0]

  # Cam系下激光雷达的位置
  cam_t_lidar: [-0.068553, -0.097542, -0.010363]
  # Cam系下激光雷达的旋转
  cam_R_lidar:
    - [0.999902, 0.0104, -0.009405]
    - [-0.012777, 0.399462, -0.916661]
    - [-0.005776, 0.916691, 0.399556]

camera:
  # 相机内参
  K:
    - [1344.6532021842934, 0.0, 801.8252142108657]
    - [0.0, 1341.7849846497977, 617.8425202045968]
    - [0.0, 0.0, 1.0]

  # 畸变参数: k1, k2, p1, p2, k3
  dist: [-0.05833954644091494, 0.050069240358372576, -0.0009001243347331525, -0.000996520154039562, 0.0]
```

---

## 文件结构 / File Structure

```
.
├── Campus1.bag ~ Campus4.bag
├── Dormitory1.bag ~ Dormitory4.bag
├── Mall1.bag, Mall2.bag
├── Office1.bag ~ Office10.bag
├── community_contributions/ # 社区贡献数据 / community-contributed data
├── calibration_offsets.yaml # 内外参 / calibration
├── check_bag_files.py       # 完整性校验 / integrity check
└── README.md
```

## 快速校验 / Quick Validation

```bash
python3 check_bag_files.py .
```

---

## 代码仓库 / Code Repository

算法代码：[github.com/xiaofan4122/Elevator-LIO](https://github.com/xiaofan4122/Elevator-LIO)

项目主页：[xiaofan4122.github.io/Elevator_LIO_Page](https://xiaofan4122.github.io/Elevator_LIO_Page/)

---

## 许可证 / License

本数据集采用 [CC BY 4.0](https://creativecommons.org/licenses/by/4.0/) 许可。可自由分享和改编，包括商业用途，需注明出处。

Licensed under [CC BY 4.0](https://creativecommons.org/licenses/by/4.0/). Free to share and adapt for any purpose, including commercial use, with attribution.

---

## 引用 / Citation

```bibtex
@article{zhang2026elevator,
  title={Elevator-LIO: Robust LiDAR-Inertial Odometry for Multi-Floor Navigation under Elevator-Induced Non-Inertial Motion},
  author={Zhang, Yifan and Huang, Yudong and Zhang, Yuchong and Li, Changze and Liu, Haoran and Yang, Ming and Qin, Tong},
  journal={arXiv preprint arXiv:2605.24495},
  year={2026}
}
```