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

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社区贡献 / Community Contributions

我们很期待社区贡献者将自己的电梯相关 rosbag 发布到本数据集上。 We welcome community contributors to share their own elevator-related rosbag files through this dataset.

Item	Description
Storage path	community_contributions/
Contact	xiaofan@sjtu.edu.cn

社区贡献数据会被放置在 community_contributions/ 中，并在此处列出贡献者信息。 Community-contributed data will be placed under community_contributions/ and listed here with contributor information.

Contributor	Platform / ID
@编程猫小渐	小红书 9556244270

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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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传感器配置 / Sensor Setup

Component	Description
LiDAR	Livox MID-360 with built-in IMU
Camera	Synchronized industrial camera
Compute	Jetson Orin Nano
Data format	ROS bag

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内外参 / Calibration

The calibration file is provided as:

calibration_offsets.yaml

The transform convention is:

p_target = target_R_source * p_source + target_t_source

Field	Meaning	Direction
imu_R_lidar, imu_t_lidar	LiDAR pose in IMU frame / IMU 系下激光雷达位姿	LiDAR to IMU
lidar_R_vehicle, lidar_t_vehicle	Vehicle center pose in LiDAR frame / LiDAR 系下小车中心位姿	Vehicle to LiDAR
cam_R_lidar, cam_t_lidar	LiDAR pose in camera frame / Camera 系下激光雷达位姿	LiDAR to Camera
camera.K	Camera intrinsic matrix / 相机内参矩阵	Camera model
camera.dist	OpenCV distortion coefficients k1, k2, p1, p2, k3 / 畸变参数	Camera model

extrinsic:
  # IMU系下激光雷达的位置
  imu_t_lidar: [-0.011, -0.02329, 0.04412]
  imu_R_lidar:
    - [1.0, 0.0, 0.0]
    - [0.0, 1.0, 0.0]
    - [0.0, 0.0, 1.0]

  # Lidar系下小车中心的位置
  lidar_t_vehicle: [-0.2, 0.0, -0.15]
  # Lidar系下小车的旋转
  lidar_R_vehicle:
    - [0.0, -1.0, 0.0]
    - [1.0, 0.0, 0.0]
    - [0.0, 0.0, 1.0]

  # Cam系下激光雷达的位置
  cam_t_lidar: [-0.068553, -0.097542, -0.010363]
  # Cam系下激光雷达的旋转
  cam_R_lidar:
    - [0.999902, 0.0104, -0.009405]
    - [-0.012777, 0.399462, -0.916661]
    - [-0.005776, 0.916691, 0.399556]

camera:
  # 相机内参
  K:
    - [1344.6532021842934, 0.0, 801.8252142108657]
    - [0.0, 1341.7849846497977, 617.8425202045968]
    - [0.0, 0.0, 1.0]

  # 畸变参数: k1, k2, p1, p2, k3
  dist: [-0.05833954644091494, 0.050069240358372576, -0.0009001243347331525, -0.000996520154039562, 0.0]

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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
├── community_contributions/ # 社区贡献数据 / community-contributed data
├── calibration_offsets.yaml # 内外参 / calibration
├── 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/xiaofan4122/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}
}