Multi-sensor mapping and localization datasets

This is a dataset for testing outdoors mapping and localization algorithms. It contains two Rosbag files that provide different measurements from an 3D Velodyne LIDAR, a visual sensor, an altimeter, an IMU, and Ultra-Wide-Band Time-of-Flight sensors, all mounted in an aerial vehicle. The ground-truth localization of the robot is given by a RTK GPS with accuracy of < 2cm. The transformations between sensor frames are also given in the bags. The flight experiments were conducted in an outdoors scenario near Seville, during September 2018.