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

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7ade49d
readme: fix broken kaist dataset links
WoosikLee2510 Jun 19, 2026
ce043ac
readme: use public gofile shared link for nas mirror + add qr code
WoosikLee2510 Jun 19, 2026
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20 changes: 7 additions & 13 deletions ReadMe.md
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Expand Up @@ -77,19 +77,13 @@ 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://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```

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Binary file added thirdparty/kaist-QRcode.png
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