Format

The dataset is organised into time-stamped sequences, each representing a single recorded run on one of the loops.

Image Data

  • Format: .mp4 (compressed)
  • Resolution: 1920×1080 for cameras, 1408×1408 for Aria glasses
  • Intrinsics/extrinsics in /calibration/
  • Raw, uncompressed frames available on request

LiDAR Data

  • Format: .npz with 3D coordinates (x, y, z), intensity, ring
  • Two synchronized sensors (left/right)
  • Raw, uncorrected point clouds (no motion compensation)

IMU / GPS

  • Format: .csv
  • Contains orientation, acceleration, angular velocity, GNSS position, and uncertainty estimates

Eye-Tracking (Project Aria)

  • Format: .mp4 + CSV gaze logs
  • Includes gaze vectors, head IMU, barometer, and GPS

Timestamps

  • Nanosecond-precision synchronization using PTP
  • Provided per sensor in timestamp.csv

Raw ROSBAG Data

Raw .bag files (ROS1) are available on request for:

  • Replaying synchronized sensor streams in ROS
  • Running custom odometry or SLAM pipelines
  • Custom calibration or post-processing

Contact the maintainers for download instructions.

Directory Structure 

RobotCyle/
|-- ...
|-- 2025-02-05-09-38-47
|-- 2025-02-05-10-20-33
|-- 2025-02-06-10-17-28
|   |-- metadata.json
|   |-- baslers/
|   |   |-- left.mp4
|   |   `-- right.mp4
|   |-- hesai/
|   |   |-- left/
|   |   |   |-- 1730457723789282000.npz
|   |   |   |-- 1730457723889569000.npz
|   |   |   `-- ...
|   |   `-- right/
|   |       |-- 1730457723787372000.npz
|   |       |-- 1730457723887433000.npz
|   |       `-- ...
|   |-- motion/
|   |   |-- front_zed.csv
|   |   |-- gps.csv
|   |   |-- imu.csv
|   |   `-- rear_zed.csv
|   |-- timestamps/
|   |   |-- baslers/
|   |   |   |-- left.txt
|   |   |   `-- right.txt
|   |   |-- hesai/
|   |   |   |-- left.txt
|   |   |   `-- right.txt
|   |   `-- zed/
|   |       |-- front/
|   |       |   |-- left.txt
|   |       |   `-- right.txt
|   |       `-- rear/
|   |           |-- left.txt
|   |           `-- right.txt
|   |-- zed/
|   |   |-- front/
|   |   |   |-- left.mp4
|   |   |   `-- right.mp4
|   |   `-- rear/
|   |       |-- left.mp4
|   |       `-- right.mp4
|   `-- aria/
|       |-- front.mp4
|       |-- left.mp4
|       `-- right.mp4
|-- 2025-02-06-11-07-51
|-- 2025-02-07-09-51-51
`-- ...