Velodyne SLAM - Dataset


Here, you can find two challenging datasets recorded with the Velodyne HDL64E-S2 scanner in the city of Karlsruhe, Germany.

scenario 1 scenario 2


The following zip files include everything you need (including a description of the data format).
Tools for viewing / converting the data can be found below. This data can be freely used with one restriction: In case it is used for scientific publication
you are required to cite the article "Velodyne SLAM" of Moosmann et al. (see here).


The 3D maps and trajectories calculated by the proposed algorithm (without loop closure!):


In theory, the recorded png-files can be viewed by any imaging software. In practice, there's not a lot to see due to low contrast.
This is why we provide a tiny image viewer in C++/Qt:

Source Code

To ease accessing the data, here are some C++ classes: If you write any converters (e.g. to P3D files), I'd be happy if you send me the code to publish on this website.


If you have any questions or comments, feel free to contact me