# Ground-Challenge: A Multi-sensor SLAM Dataset Focusing on Corner Cases for Ground Robots

arXiv: https://arxiv.org/abs/2307.03890 · HTML: https://mlsanity.com/paper/2307.03890/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 8 Jul 2023.

## Built on by (most cited first, 1 of 1)

- [ES-Gaussian: Gaussian Splatting Mapping via Error Space-Based Gaussian Completion](https://mlsanity.com/paper/2410.06613/) (2024)

## Abstract (arXiv)

High-quality datasets can speed up breakthroughs and reveal potential developing directions in SLAM research. To support the research on corner cases of visual SLAM systems, this paper presents Ground-Challenge: a challenging dataset comprising 36 trajectories with diverse corner cases such as aggressive motion, severe occlusion, changing illumination, few textures, pure rotation, motion blur, wheel suspension, etc. The dataset was collected by a ground robot with multiple sensors including an RGB-D camera, an inertial measurement unit (IMU), a wheel odometer and a 3D LiDAR. All of these sensors were well-calibrated and synchronized, and their data were recorded simultaneously. To evaluate the performance of cutting-edge SLAM systems, we tested them on our dataset and demonstrated that these systems are prone to drift and fail on specific sequences. We will release the full dataset and relevant materials upon paper publication to benefit the research community. For more information, visit our project website at https://github.com/sjtuyinjie/Ground-Challenge.