Multimodal Sensor Dataset from Wood/Forest Environment - iParque

<p>This forestry robotic dataset comprises a <strong>woodland scenario</strong> with a relatively open sky view, <a href="https://www.google.pt/maps/place/40%C2%B010'35.3%22N+8%C2%B028'07.2%22W/@40.1765628,-8.468883,70m/data=!3m1!1e3!4m4!3m3!8m2!3d40.1764826!4d-8.4686631?hl=pt-PT&amp;entry=ttu&amp;g_ep=EgoyMDI0MDkwOC4wIKXMDSoASAFQAw%3D%3D">iParque Park, Coimbra, Portugal</a> ( 40&ordm;17'64.826''N; -8&ordm;46'86.631''W).<br>The dataset contains information on rosbags with different rostopics of various sensors,&nbsp; with a total distance covered of approximately 950 meters.<br>The dataset was broken into rosbags with a maximum storage of 10GB each.</p> <p>The recorded topics were as follows:</p> <ul> <li>Velarray M1600 LiDAR point clouds data (sensor_msgs/PointCloud2) @20Hz;</li> <li>Realsense Intel D435i compressed image data, compressed depth info, alongside camera info (sensor_msgs/CompressedImage + sensor_msgs/CompressedImage + sensor_msgs/CameraInfo) @30Hz;</li> <li>Mynt Eye S1030 left camera data alongside camera info (sensor_msgs/Image + sensor_msgs/CameraInfo) @20Hz;</li> <li>Mynt Eye S1030 right camera data alongside camera info (sensor_msgs/Image + sensor_msgs/CameraInfo) @20Hz;</li> <li>IMU sensor data, alongside magnetometer data (sensor_msgs/Imu + sensor_msgs/MagneticField) @100Hz;</li> <li>RTK GNSS information on the trajectory taken (sensor_msgs/NavSatFix) @1Hz.</li> </ul>