# FusionPortable: A Multi-Sensor Campus-Scene Dataset for Evaluation of Localization and Mapping Accuracy on Diverse Platforms

arXiv: https://arxiv.org/abs/2208.11865 · HTML: https://mlsanity.com/paper/2208.11865/

## Key facts

- Cited by 15 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 25 Aug 2022.

## Built on by (most cited first, 15 of 15)

- [Towards Robust Robot 3D Perception in Urban Environments: The UT Campus Object Dataset](https://mlsanity.com/paper/2309.13549/) (2023)
- [General Place Recognition Survey: Towards Real-World Autonomy](https://mlsanity.com/paper/2405.04812/) (2024)
- [Event-based Stereo Depth Estimation: A Survey](https://mlsanity.com/paper/2409.17680/) (2024)
- [LCE-Calib: Automatic LiDAR-Frame/Event Camera Extrinsic Calibration With A Globally Optimal Solution](https://mlsanity.com/paper/2303.09825/) (2023)
- [DUFOMap: Efficient Dynamic Awareness Mapping](https://mlsanity.com/paper/2403.01449/) (2024)
- [BeautyMap: Binary-Encoded Adaptable Ground Matrix for Dynamic Points Removal in Global Maps](https://mlsanity.com/paper/2405.07283/) (2024)
- [ROVER: A Multi-Season Dataset for Visual SLAM](https://mlsanity.com/paper/2412.02506/) (2024)
- [Real-Time Metric-Semantic Mapping for Autonomous Navigation in Outdoor Environments](https://mlsanity.com/paper/2412.00291/) (2024)
- [ROVER: Robust Loop Closure Verification with Trajectory Prior in Repetitive Environments](https://mlsanity.com/paper/2508.13488/) (2025)
- [RiskMap: A Unified Driving Context Representation for Autonomous Motion Planning in Urban Driving Environment](https://mlsanity.com/paper/2406.04451/) (2024)
- [RE-TRIP : Reflectivity Instance Augmented Triangle Descriptor for 3D Place Recognition](https://mlsanity.com/paper/2505.16165/) (2025)
- [DCReg: Decoupled Characterization for Efficient Degenerate LiDAR Registration](https://mlsanity.com/paper/2509.06285/) (2025)
- [Sensor Configuration Matters: A Systematic Evaluation of Multimodal SLAM on Quadruped Robots](https://mlsanity.com/paper/2606.19067/) (2026)
- [MIRAGE: Metric Inference and Reliability-Aware Gaussian Estimation from Feed-Forward Vision](https://mlsanity.com/paper/2610.12568/) (2026)
- [UniMetric: Universal Metric Scale Recovery for Visual Geometry Foundation Models](https://mlsanity.com/paper/2610.16945/) (2026)

## Abstract (arXiv)

Combining multiple sensors enables a robot to maximize its perceptual awareness of environments and enhance its robustness to external disturbance, crucial to robotic navigation. This paper proposes the FusionPortable benchmark, a complete multi-sensor dataset with a diverse set of sequences for mobile robots. This paper presents three contributions. We first advance a portable and versatile multi-sensor suite that offers rich sensory measurements: 10Hz LiDAR point clouds, 20Hz stereo frame images, high-rate and asynchronous events from stereo event cameras, 200Hz inertial readings from an IMU, and 10Hz GPS signal. Sensors are already temporally synchronized in hardware. This device is lightweight, self-contained, and has plug-and-play support for mobile robots. Second, we construct a dataset by collecting 17 sequences that cover a variety of environments on the campus by exploiting multiple robot platforms for data collection. Some sequences are challenging to existing SLAM algorithms. Third, we provide ground truth for the decouple localization and mapping performance evaluation. We additionally evaluate state-of-the-art SLAM approaches and identify their limitations. The dataset, consisting of raw sensor easurements, ground truth, calibration data, and evaluated algorithms, will be released: https://ram-lab.com/file/site/multi-sensor-dataset.