M2DGR: A Multi-Sensor, Multi-Scenario SLAM Dataset for Ground Robots

M2DGR is a large-scale SLAM dataset collected by a ground robot, comprising 36 indoor and outdoor scene sequences and about 1TB of data. Its sensor suite includes six fisheye cameras, a skyward-facing RGB camera, an infrared camera, an event camera, a visual-inertial sensor, an IMU, a lidar, a consumer-grade GNSS receiver, and a GNSS-IMU navigation system with RTK signals, all calibrated and synchronized and recorded in sync.