This is the official data set to LiLi-OM (Livox LiDAR-Inertial Odometry and Mapping). 

Sequences in Velodyne_HDL_64E are recorded together with sequences in folder /Livox_Horizon/FR-IOSB for comparison purpose.

For more information, please visit our Github repository:
https://github.com/KIT-ISAS/lili-om

If you use the data set, please cite:

@article{arXiv20_Li,
 author = {Kailai Li and Meng Li and Uwe D. Hanebeck},
 journal = {arXiv preprint arXiv:2010.13150},
 month = {October},
 title = {Towards High-Performance Solid-State-LiDAR-Inertial Odometry and Mapping},
 url = {https://arxiv.org/abs/2010.13150},
 year = {2020}
}