From 7ade49ddfdf32e28dc0fafa9ceb61e90cb86e065 Mon Sep 17 00:00:00 2001 From: Woosik Lee <31552565+WoosikLee2510@users.noreply.github.com> Date: Fri, 19 Jun 2026 11:04:37 -0700 Subject: [PATCH 1/2] readme: fix broken kaist dataset links the old google drive links died (uds google workspace storage policy change). replace the per-file drive table with two mirrors: hugging face and the ud robots nas. --- ReadMe.md | 17 ++++------------- 1 file changed, 4 insertions(+), 13 deletions(-) diff --git a/ReadMe.md b/ReadMe.md index c5d49c5..da28df1 100644 --- a/ReadMe.md +++ b/ReadMe.md @@ -77,19 +77,10 @@ source devel/setup.bash ![alt text](thirdparty/real_bag.png) Here are the rosbag files and ground truths we used in the evaluation. To be specific, we used [kaist2bag](https://github.com/tsyxyz/kaist2bag) to convert all sensor readings to rosbag files. All rights reserved to [KAIST urban dataset](https://sites.google.com/view/complex-urban-dataset). -| Rosbag | GT (csv) | GT (txt) | Rosbag | GT (csv) | GT (txt) | -| --- | --- | --- | --- | --- | --- | -|[urban18.bag](https://drive.google.com/open?id=1WuFvsgc416E5oi7ROLYy0Y6ekClVARGV&usp=drive_copy)|[urban18.csv](https://drive.google.com/open?id=1rqXJwwex2lfAJrLUZY9fUs98ePzZIKRc&usp=drive_copy)|[urban18.txt](https://drive.google.com/open?id=11rchRZvbDuSywUrDnlOYeBF2woS3GSnC&usp=drive_copy)|[urban19.bag](https://drive.google.com/open?id=1QjGEvMjNsk3fJeQV6GuZ1MiVGvpnMXuL&usp=drive_copy)|[urban19.csv](https://drive.google.com/open?id=1epB0k7YOdMraywCuedowHB7wf6kPYnqd&usp=drive_copy)|[urban19.txt](https://drive.google.com/open?id=1TBsiouJSThTwcMRYyY65gAIY0f3zXhaX&usp=drive_copy)| -|[urban20.bag](https://drive.google.com/open?id=1joISXo2zvBy03gbQzUC_LTSmoIXaZ5u1&usp=drive_copy)|[urban20.csv](https://drive.google.com/open?id=1fpEixMNjoq8gT-qMw0GX0fiULt-lyP3M&usp=drive_copy)|[urban20.txt](https://drive.google.com/open?id=1UObOWam0nI1s4TstRZ_UTaypkaaVV9gA&usp=drive_copy)|[urban21.bag](https://drive.google.com/open?id=17Fq1ixHwPaLwMGZrx2oZp-Aw0piXc7Kv&usp=drive_copy)|[urban21.csv](https://drive.google.com/open?id=1tmXnE6rOnErfuMYhVPZFpNCeJDkNHvVe&usp=drive_copy)|[urban21.txt](https://drive.google.com/open?id=1JZSFhr66V2QEyesrmcyeYDU4O2e7eetV&usp=drive_copy)| -|[urban22.bag](https://drive.google.com/open?id=1PrciTcIyn5URc9iKW5TOQ9V-C6Q_hI4Z&usp=drive_copy)|[urban22.csv](https://drive.google.com/open?id=1wjW8wq-FVno7lo7uljlND4DuA9wNivFV&usp=drive_copy)|[urban22.txt](https://drive.google.com/open?id=1sxOamJJytLVBTzgejGRr3kFqcCpDk7yM&usp=drive_copy)|[urban23.bag](https://drive.google.com/open?id=1ptcc5joAl1LhSoVzf9IgGvDqm93IFoBx&usp=drive_copy)|[urban23.csv](https://drive.google.com/open?id=1HFZpkNBASZ7CEGrjQqTRpnuyedW4mKpL&usp=drive_copy)|[urban23.txt](https://drive.google.com/open?id=1ICzaR6Z5mDkR1KM3vkHejCgdsMJNIjiC&usp=drive_copy)| -|[urban24.bag](https://drive.google.com/open?id=1GqbFoQd6R8kzRX4VqWdtoy5PnEZxTx4O&usp=drive_copy)|[urban24.csv](https://drive.google.com/open?id=16U01BQbWqndbsutXt3iCK2FQ_dZ7kHQ_&usp=drive_copy)|[urban24.txt](https://drive.google.com/open?id=1PTUKyoMkG01MLebI1CTwfp6C6RVlFAkC&usp=drive_copy)|[urban25.bag](https://drive.google.com/open?id=1YWyui_bOQuSnmP_-NPsQ-G39fnElZL_o&usp=drive_copy)|[urban25.csv](https://drive.google.com/open?id=1vZqH2RKrR5OOUVK1fw8RSmsRHa5RnteV&usp=drive_copy)|[urban25.txt](https://drive.google.com/open?id=11mH5fsPBd7kPktLfLaaoKQjYNUbIm1AL&usp=drive_copy)| -|[urban26.bag](https://drive.google.com/open?id=1zyFSLg5nDPGwjOAmqwZIjitJmp7Ate3V&usp=drive_copy)|[urban26.csv](https://drive.google.com/open?id=1sriL5sv-VgjG7T7kFjRFz_MiojmRAGfF&usp=drive_copy)|[urban26.txt](https://drive.google.com/open?id=1ERGCd4RR0vav7Cbb2Agw9UA2AJOE07nQ&usp=drive_copy)|[urban27.bag](https://drive.google.com/open?id=1x5FWI7ds5fFDuz6VoQYOsDoKEzFhQFaA&usp=drive_copy)|[urban27.csv](https://drive.google.com/open?id=1hT2P2AJGggmo6W-oD8Qowqj2lZfuAUzL&usp=drive_copy)|[urban27.txt](https://drive.google.com/open?id=1forf325XmRLRq07rQmOrOnNZEl3HDmt-&usp=drive_copy)| -|[urban28.bag](https://drive.google.com/open?id=14xOmDZ_4ktLZS18ghi7JTPyHXj1awDWr&usp=drive_copy)|[urban28.csv](https://drive.google.com/open?id=1H_xcy5hk9V2i27g3DPxYMqSXIiF6dGBp&usp=drive_copy)|[urban28.txt](https://drive.google.com/open?id=1dFRr7fOySzvmXQcSLamo5Zc_zw_9WHzn&usp=drive_copy)|[urban29.bag](https://drive.google.com/open?id=1sOYQjvCZUDxG4PGuWia7GsrMntdvUqPq&usp=drive_copy)|[urban29.csv](https://drive.google.com/open?id=1hi8E0RptAK4rpbo-eQc4ArFQRy6qO68O&usp=drive_copy)|[urban29.txt](https://drive.google.com/open?id=1mTUr-QwOLXjFx8h5egmhXm4O4n93S9tP&usp=drive_copy)| -|[urban30.bag](https://drive.google.com/open?id=1bw1SJxTQEL74dZTOuD8USnCb5skZ59hY&usp=drive_copy)|[urban30.csv](https://drive.google.com/open?id=1rpLEkMUW1vao854l2mGXKDYRAo48_rFF&usp=drive_copy)|[urban30.txt](https://drive.google.com/open?id=1LCHy_ncIKxgfV6HZy_PUlsEWaczhv3Dk&usp=drive_copy)|[urban31.bag](https://drive.google.com/open?id=1cKRyxgeeWzRGlKJgr2a_GQdOkn7V255H&usp=drive_copy)|[urban31.csv](https://drive.google.com/open?id=1rVigiMX86JT4H9j5y2P9xmDoMkVYx8sj&usp=drive_copy)|[urban31.txt](https://drive.google.com/open?id=14uIkrra4MEez8QV0_GtcUi_8x19vlFb3&usp=drive_copy)| -|[urban32.bag](https://drive.google.com/open?id=1c4fmUX_UBYOW1Y2j0Kr1ViUKBcAb5r59&usp=drive_copy)|[urban32.csv](https://drive.google.com/open?id=16Zk5sZSu7J1LmaKG7Xs6cCUz4x39Ecew&usp=drive_copy)|[urban32.txt](https://drive.google.com/open?id=1K_FwA9_RQxlz3W9NXycrceaZDIoQuUlC&usp=drive_copy)|[urban33.bag](https://drive.google.com/open?id=1tdaIB2xz7o2bfDOLySJijn9Bdk7v_v0V&usp=drive_copy)|[urban33.csv](https://drive.google.com/open?id=1ERMSVuqFBUTaHqOhQi9gKpCEH9092b7l&usp=drive_copy)|[urban33.txt](https://drive.google.com/open?id=1Gzy-hq6UkA-G0S7mEd1--5QQqmev_fAC&usp=drive_copy)| -|[urban34.bag](https://drive.google.com/open?id=1_K-Q_KfLvj8-xrJy2RL4XMOh3nXQmPAe&usp=drive_copy)|[urban34.csv](https://drive.google.com/open?id=10VveQ2LJ0hNEn3WZ76GdKAU_VdHV24cC&usp=drive_copy)|[urban34.txt](https://drive.google.com/open?id=1ie7KFQC3q9LBsViHkYnU6n1eQZv18ayw&usp=drive_copy)|[urban35.bag](https://drive.google.com/open?id=10oUZ1u7kgxHYjCQGNRApvt7nMl15Ll4V&usp=drive_copy)|[urban35.csv](https://drive.google.com/open?id=1L046y2g6iBCvTovA94Fh9UAussXx6lZ2&usp=drive_copy)|[urban35.txt](https://drive.google.com/open?id=1X_TuHUt8sLRN9DPjAEEqydyxtGVnvXzb&usp=drive_copy)| -|[urban36.bag](https://drive.google.com/open?id=1DWEnJ3pluJmNQUtGABsELftqyO7GzxL4&usp=drive_copy)|[urban36.csv](https://drive.google.com/open?id=1A14eAcsBgXaKpwwPRoyArxPRSwAcU3TW&usp=drive_copy)|[urban36.txt](https://drive.google.com/open?id=1b1bTU780RcHq-wiFvwIx8bqPypFDt252&usp=drive_copy)|[urban37.bag](https://drive.google.com/open?id=1v27W0Baw2iLdzu7Rwh0g_KMhf4FfUGP9&usp=drive_copy)|[urban37.csv](https://drive.google.com/open?id=1-USD8fNa-Dif0riGh21CymQh0_l9mMCb&usp=drive_copy)|[urban37.txt](https://drive.google.com/open?id=1KOakD6gNawaW0iD8VLg58GeujzHqMpcf&usp=drive_copy)| -|[urban38.bag](https://drive.google.com/open?id=1LJEi4whPwONl61NAp54gaJjDBZkCwk_Q&usp=drive_copy)|[urban38.csv](https://drive.google.com/open?id=1-EVRyxGsSrQyrxZvP5faD9oYbScbkGe9&usp=drive_copy)|[urban38.txt](https://drive.google.com/open?id=1mcD4AfFUSQHK5KAPmu2-nSvvGL1NufI6&usp=drive_copy)|[urban39.bag](https://drive.google.com/open?id=1JmdHv_GWeHEFGJj37UXV9KF3iQKTHLm-&usp=drive_copy)|[urban39.csv](https://drive.google.com/open?id=1CGRIAg8i_xyJdaWDn93n_IWfjfPiZPjU&usp=drive_copy)|[urban39.txt](https://drive.google.com/open?id=1TYjr1dK6a2wgSIWpKimvwPIAR_sr4-fF&usp=drive_copy)| + +We provide mirrors of the converted rosbags (`urban18`-`urban39`) and their ground truths at the links below: +* [Hugging Face - kaist-urban-dataset](https://huggingface.co/datasets/gladiator7737/kaist-urban-dataset) +* [UD Robots NAS](https://udrobots.us5.quickconnect.to/?launchApp=SYNO.SDS.App.FileStation3.Instance&launchParam=openfile%3D%252Fhome%252Fkaist%252F&SynoToken=6WeBuboVaPD0I) #### Subscribing to the ros messages ```roslaunch mins subscribe.launch config:=euroc_mav rosbag:=V1_03_difficult.bag bag_start_time:=0``` From ce043aca7db04fa59527aa56e99d64be5f1385b5 Mon Sep 17 00:00:00 2001 From: Woosik Lee <31552565+WoosikLee2510@users.noreply.github.com> Date: Fri, 19 Jun 2026 11:15:41 -0700 Subject: [PATCH 2/2] readme: use public gofile shared link for nas mirror + add qr code --- ReadMe.md | 5 ++++- thirdparty/kaist-QRcode.png | Bin 0 -> 483 bytes 2 files changed, 4 insertions(+), 1 deletion(-) create mode 100755 thirdparty/kaist-QRcode.png diff --git a/ReadMe.md b/ReadMe.md index da28df1..01d595a 100644 --- a/ReadMe.md +++ b/ReadMe.md @@ -80,7 +80,10 @@ Here are the rosbag files and ground truths we used in the evaluation. To be spe We provide mirrors of the converted rosbags (`urban18`-`urban39`) and their ground truths at the links below: * [Hugging Face - kaist-urban-dataset](https://huggingface.co/datasets/gladiator7737/kaist-urban-dataset) -* [UD Robots NAS](https://udrobots.us5.quickconnect.to/?launchApp=SYNO.SDS.App.FileStation3.Instance&launchParam=openfile%3D%252Fhome%252Fkaist%252F&SynoToken=6WeBuboVaPD0I) +* [UD Robots NAS](https://gofile.me/7B392/kNl7XHqHx) (scan the QR code below) + +![KAIST dataset QR code](thirdparty/kaist-QRcode.png) + #### Subscribing to the ros messages ```roslaunch mins subscribe.launch config:=euroc_mav rosbag:=V1_03_difficult.bag bag_start_time:=0``` diff --git a/thirdparty/kaist-QRcode.png b/thirdparty/kaist-QRcode.png new file mode 100755 index 0000000000000000000000000000000000000000..b03ff898eadb3319030640428b5b7f6915068fc4 GIT binary patch literal 483 zcmV<90UZ8`P)-kq+&uQ;6!rHH-)9Ai6x zKNkFF2mou!29>eU@gQP0E(5WncOF<}+*LFf2Zj$8G5O&gnDrRsJAj#Bn<(B_=nbHJ z7^mvy2c9erFLte^Frk2aJ^oJpC4 zo5r07XjNxL&=}nqc@S|dHC~{T4G#+V6$M&6@rpc%Nl;2QO&4{YJSZ|#QDahryLKK# zcO6=6k~YXI4~kTaRtpe6AJ>G4SD-z#8q#xY6R351U4uPqN_bG4K}2g^meSo^|NLEbl4RhWhugRCj)suLL#VSN?N< Z0v`=BXrI=fwOjxI002ovPDHLkV1oVX#F792 literal 0 HcmV?d00001