SeDriCa autonomous buggy data
Collection
Sensor recordings (ROS 2 bags: lidar, OAK camera, IMU, GNSS, vehicle/DBW) and LIO-SAM maps from the SeDriCa buggy at IIT Bombay. • 5 items • Updated
The Dataset Viewer has been disabled on this dataset.
SeDriCa LIO-SAM maps
LIO-SAM point cloud maps (PCD) of the IIT Bombay campus built on the
SeDriCa autonomous buggy (front Ouster OS1-32 + Xsens IMU), one folder per map, as saved in ~/sedrica_maps on the Jetson.
GlobalMap.pcd is the map used for lidar localization; CornerMap/SurfMap are the LIO-SAM feature maps and
trajectory/transformations the keyframe poses. The map origin is the front lidar pose at LIO-SAM start
(gravity-levelled, yaw unreferenced). The drives they came from are in OneLegend/sedrica-campus-drives,
OneLegend/sedrica-controls-2026-11-01-part2 (h10_ccd_2026-11-01) and OneLegend/sedrica-mapping-2026-11-03 (cool_map*).
7 folder(s), 1.7 GB in total. Each folder has its own README.md with the recording notes, the sensors and every topic with its message count and rate.
| Folder | Start (IST) | Duration | Size | Data | Notes |
|---|---|---|---|---|---|
campus_2026-10-23 |
51.4 MB | 5 PCD map file(s) | LIO-SAM map (PCD) from ~/sedrica_maps on the Jetson. | ||
campus_2026-10-23_00-26 |
222.0 MB | 5 PCD map file(s) | LIO-SAM map (PCD) from ~/sedrica_maps on the Jetson. | ||
campus_2026-10-23_21-07 |
266.7 MB | 5 PCD map file(s) | LIO-SAM map (PCD) from ~/sedrica_maps on the Jetson. | ||
cool_map |
917.7 MB | 5 PCD map file(s) | LIO-SAM map (PCD) from ~/sedrica_maps on the Jetson. | ||
cool_map_part2 |
144.6 MB | 5 PCD map file(s) | LIO-SAM map (PCD) from ~/sedrica_maps on the Jetson. | ||
h10_ccd_2026-11-01 |
78.0 MB | 5 PCD map file(s) | LIO-SAM map (PCD) from ~/sedrica_maps on the Jetson. | ||
smoke_test |
286.6 KB | 5 PCD map file(s) | LIO-SAM map (PCD) from ~/sedrica_maps on the Jetson. |
Download
One folder (bags are large, so this is usually what you want):
hf download OneLegend/sedrica-maps --repo-type dataset --include "<folder>/*" --local-dir .
Only the READMEs and bag metadata, to look around first:
hf download OneLegend/sedrica-maps --repo-type dataset --include "*.md" --include "*/metadata.yaml" --local-dir .
Format
- Bags are ROS 2 (Humble) rosbag2 folders, mostly MCAP. Play with
ros2 bag play <folder>/bag --clockor open the.mcapfiles in Foxglove. - Point cloud maps are
.pcdfiles (LIO-SAM output:GlobalMap.pcd,CornerMap.pcd,SurfMap.pcd,trajectory.pcd), in the map frame of the drive they came from. - Vehicle: the SeDriCa autonomous buggy at IIT Bombay. Sensors and frames are described in the SeDriCa repository docs.
Uploaded with upload_data.sh from the SeDriCa repository.
- Downloads last month
- 196