xiaofan0100/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. Contains 20 self-collected real-world sequences with 79 elevator rides across office, dormitory, campus, and mall environments.

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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.

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硬件平台 / Hardware Platform

• 激光雷达 / LiDAR：Livox MID-360（内置 IMU / built-in IMU）
• 计算平台 / Compute：Jetson Orin Nano
• 相机 / Camera：同步工业相机 / synchronized industrial camera

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文件结构 / File Structure

.
├── Campus1.bag ~ Campus4.bag
├── Dormitory1.bag ~ Dormitory4.bag
├── Mall1.bag, Mall2.bag
├── Office1.bag ~ Office10.bag
├── check_bag_files.py       # 完整性校验 / integrity check
└── README.md

快速校验 / Quick Validation

python3 check_bag_files.py .

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代码仓库 / Code Repository

算法代码：github.com/xiaofan0100/Elevator-LIO

项目主页：xiaofan4122.github.io/Elevator_LIO_Page

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许可证 / License

本数据集采用 CC 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. Free to share and adapt for any purpose, including commercial use, with attribution.

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引用 / Citation

@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}
}