Place recognition is crucial for robot localization and loop closure in simultaneous localization and mapping (SLAM). Light Detection and Ranging (LiDAR), known for its robust sensing capabilities and measurement consistency even in varying illumination conditions, has become pivotal in various fields, surpassing traditional imaging sensors in certain applications. Among various types of LiDAR, spinning LiDARs are widely used, while non-repetitive scanning patterns have recently been utilized in robotics applications. Some LiDARs provide additional measurements such as reflectivity, Near Infrared (NIR), and velocity from Frequency modulated continuous wave (FMCW) LiDARs. Despite these advances, there is a lack of comprehensive datasets reflecting the broad spectrum of LiDAR configurations for place recognition. To tackle this issue, our paper proposes the HeLiPR dataset, curated especially for place recognition with heterogeneous LiDARs, embodying spatiotemporal variations. To the best of our knowledge, the HeLiPR dataset is the first heterogeneous LiDAR dataset supporting inter-LiDAR place recognition with both non-repetitive and spinning LiDARs, accommodating different field of view (FOV)s and varying numbers of rays. The dataset covers diverse environments, from urban cityscapes to high-dynamic freeways, over a month, enhancing adaptability and robustness across scenarios. Notably, HeLiPR includes trajectories parallel to MulRan sequences, making it valuable for research in heterogeneous LiDAR place recognition and long-term studies. The dataset is accessible at https://sites.google.com/view/heliprdataset.

翻译：地点识别对于机器人定位以及同步定位与地图构建（SLAM）中的回环检测至关重要。激光雷达（LiDAR）凭借其即使在光照变化条件下仍具鲁棒感知能力和测量一致性的特点，在多个领域中已超越传统成像传感器，成为关键技术。在各类激光雷达中，旋转式激光雷达应用广泛，而近年来非重复扫描模式也开始被用于机器人应用。部分激光雷达还能提供额外测量信息，如反射率、近红外（NIR）数据以及调频连续波（FMCW）激光雷达的速度信息。尽管技术不断进步，目前仍缺乏能够反映激光雷达配置广泛范围的地点识别综合数据集。为解决这一问题，本文提出HeLiPR数据集，该数据集专为异构激光雷达的地点识别而设计，并融入了时空变化特征。据我们所知，HeLiPR是首个支持非重复扫描与旋转式激光雷达间跨设备地点识别的异构激光雷达数据集，能够适应不同的视场角（FOV）和射线数量。数据集覆盖从城市街景到高动态高速公路等多种环境，历时一个月采集，从而增强了跨场景的适应性与鲁棒性。值得注意的是，HeLiPR包含与MulRan序列平行的轨迹，为异构激光雷达地点识别及长期研究提供了宝贵资源。数据集访问地址为https://sites.google.com/view/heliprdataset。