We present a multi-camera LiDAR inertial dataset of 4.5 km walking distance as an expansion of the Newer College Dataset. The global shutter multi-camera device is hardware synchronized with both the IMU and LiDAR. This dataset also provides six Degrees of Freedom (DoF) ground truth poses at LiDAR frequency (10 Hz). Three data collections are described and an example use case of multi-camera visual-inertial odometry is demonstrated. This expansion dataset contains small and narrow passages, large scale open spaces, as well as vegetated areas, to test localization and mapping systems. Furthermore, some sequences present challenging situations such as abrupt lighting change, textureless surfaces, and aggressive motion. The dataset is available at: https: //ori-drs.github.io/newer-college-dataset/
翻译：作为Newer College数据集的扩展,我们展示了一个4.5公里行走距离的多镜头LIDAR惯性数据集。全球百叶窗多相机装置是与IMU和LIDAR同步的硬件。该数据集还提供LIDAR频率(10赫兹)的六度自由地面真理(DoF)数据。描述了三个数据采集,并展示了多镜头视觉-内皮odology的例子。该扩展数据集包含小小通道和窄通道、大面积开放空间以及植被区域,以测试本地化和绘图系统。此外,一些序列还呈现出一些具有挑战性的情况,如突然照明变化、无纹度表面和攻击性运动。数据集可在以下网址查阅:https:/ori-drs.github.io/newer-college-datasetset/https://ori-drs.github.io/newer-colege-dataset/
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