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MMGraphSLAM_Dataset

This dataset includes two data packets: IMU and mmWave Radar. Each data packet is divided into 5 scenarios, with the specific content as follows:

IMU data:

XX-XX_ACCELEROMETER_tag_walk_flat:
	timestamp, x, y, z, time.
XX-XX_GYROSCOPE_tag_walk_flat:
	timestamp, x, y, z, time.
XX-XX_MAGNETICFIELD_tag_walk_flat:
	timestamp, x, y, z, time.

mmWave Radar data:

time: Greenwich Mean Time (GMT), 19 bit timestamp.
x: The x-coordinate of a point cloud in one frame (m).
y: The y-coordinate of a point cloud in one frame (m).
z: The z-coordinate of a point cloud in one frame (m).
velocity: The velocity of point clouds relative to radar (m/s). 
numObj: The number of detected points. 
rangearray: Range in intensity-range information.
Relative Power: Intensity in intensity-range information.