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readme: fix broken KAIST dataset links#63

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readme/kaist-dataset-links
Jun 19, 2026
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readme: fix broken KAIST dataset links#63
WoosikLee2510 merged 2 commits into
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readme/kaist-dataset-links

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@WoosikLee2510 WoosikLee2510 commented Jun 19, 2026

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The Google Drive links for the converted KAIST rosbags/ground truths are dead (the UD Google Workspace storage policy change removed the shared drive). This replaces the per-file Drive table with two mirrors of the full set (urban18-urban39 bags + GT):

Fixes #50, #52.

@WoosikLee2510
readme: fix broken kaist dataset links
7ade49d 
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.
@WoosikLee2510
readme: use public gofile shared link for nas mirror + add qr code
ce043ac
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github-actions Bot commented Jun 19, 2026 •
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Simulation regression report - master vs PR

8 seeds/config, sim UD_Warehouse, informational only (does not block merge).
Delta is PR relative to master (mean). Lower is better for RMSE / Time; NEES closer to ~1-3 is well-calibrated.

full
Metric master PR Delta (mean)
RMSE ori (deg) 133.911 +/- 0.261 133.828 +/- 0.041 -0.1%
RMSE pos (m) 0.087 +/- 0.012 0.081 +/- 0.012 -6.9%
NEES ori 2797298.000 +/- 61393.700 2799522.300 +/- 72345.300 +0.1%
NEES pos 7.200 +/- 1.500 6.500 +/- 1.800 -9.7%
Time (s) 40.300 +/- 0.600 40.300 +/- 0.500 +0.0%
stereo_gps
Metric master PR Delta (mean)
RMSE ori (deg) 0.158 +/- 0.033 0.158 +/- 0.033 +0.0%
RMSE pos (m) 0.076 +/- 0.012 0.076 +/- 0.012 +0.0%
NEES ori 4.400 +/- 2.100 4.400 +/- 2.100 +0.0%
NEES pos 3.800 +/- 1.200 3.800 +/- 1.200 +0.0%
Time (s) 18.800 +/- 0.500 18.500 +/- 0.300 -1.6%
stereo_lidar
Metric master PR Delta (mean)
RMSE ori (deg) 0.366 +/- 0.084 0.388 +/- 0.090 +6.0%
RMSE pos (m) 0.156 +/- 0.028 0.156 +/- 0.029 +0.0%
NEES ori 12.000 +/- 5.400 14.400 +/- 7.100 +20.0%
NEES pos 51.100 +/- 34.800 56.200 +/- 30.400 +10.0%
Time (s) 42.400 +/- 0.400 42.400 +/- 0.300 +0.0%
stereo_wheel
Metric master PR Delta (mean)
RMSE ori (deg) 133.843 +/- 0.057 133.843 +/- 0.057 +0.0%
RMSE pos (m) 0.085 +/- 0.028 0.085 +/- 0.028 +0.0%
NEES ori 2035390.700 +/- 42925.400 2035390.700 +/- 42925.400 +0.0%
NEES pos 28.200 +/- 38.400 28.200 +/- 38.400 +0.0%
Time (s) 20.800 +/- 0.200 20.700 +/- 0.200 -0.5%
vio_stereo
Metric master PR Delta (mean)
RMSE ori (deg) 0.174 +/- 0.036 0.174 +/- 0.036 +0.0%
RMSE pos (m) 0.111 +/- 0.032 0.111 +/- 0.032 +0.0%
NEES ori 2.000 +/- 0.900 2.000 +/- 0.900 +0.0%
NEES pos 12.600 +/- 16.500 12.600 +/- 16.500 +0.0%
Time (s) 18.000 +/- 0.200 17.800 +/- 0.100 -1.1%

@WoosikLee2510 WoosikLee2510 mentioned this pull request Jun 19, 2026
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@WoosikLee2510 WoosikLee2510 merged commit b6e11e5 into master Jun 19, 2026
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@WoosikLee2510 WoosikLee2510 mentioned this pull request Jun 19, 2026
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KAIST urban dataset invalid links

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