We release the S3LI Vulcano dataset, a multi-modal dataset towards development and benchmarking of Simultaneous Localization and Mapping (SLAM) and place recognition algorithms that rely on visual and LiDAR modalities. Several sequences are recorded on the volcanic island of Vulcano, from the Aeolian Islands in Sicily, Italy. The sequences provide users with data from a variety of environments, textures and terrains, including basaltic or iron-rich rocks, geological formations from old lava channels, as well as dry vegetation and water. The data (rmc.dlr.de/s3li_dataset) is accompanied by an open source toolkit (github.com/DLR-RM/s3li-toolkit) providing tools for generating ground truth poses as well as preparation of labelled samples for place recognition tasks.

翻译：我们发布了S3LI Vulcano数据集，这是一个多模态数据集，旨在促进依赖视觉与激光雷达模态的同步定位与建图（SLAM）及地点识别算法的开发与性能评估。该数据集包含在意大利西西里埃奥利群岛的武尔卡诺火山岛上采集的多个序列。这些序列为用户提供了多种环境、纹理与地形数据，包括玄武岩或富铁岩石、古老熔岩通道形成的地质构造，以及干燥植被与水域。数据（rmc.dlr.de/s3li_dataset）附有开源工具包（github.com/DLR-RM/s3li-toolkit），提供生成真实位姿的工具，并为地点识别任务提供标注样本的制备功能。