Update ReadMe.md

Add KAIST dataset on readme for users.
rpng · Feb 3, 2024 · 3398995 · 3398995
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diff --git a/ReadMe.md b/ReadMe.md
@@ -49,6 +49,20 @@ source devel/setup.bash
 
 ![alt text](thirdparty/real_bag.png)
 
+Here are the rosbag files and ground truths we used in the evaluation. To be specific, we used [kaist2bag](https://github.com/tsyxyz/kaist2bag) to convert all sensor readings to rosbag files. All rights reserved to [KAIST urban dataset](https://sites.google.com/view/complex-urban-dataset).
+| Rosbag  | GT (txt) | GT (csv) | Rosbag  | GT (txt) | GT (csv) | 
+| --- | --- | --- | --- | --- | --- | 
+|[urban18.bag](https://drive.google.com/open?id=1HNudS-CVrW8kT1_DB_yyMrnSZVbKGadj&usp=drive_copy)|[urban18.txt](https://drive.google.com/open?id=19mVcgiPKjWLAOqmJBvvVpOT7AEWUBQkv&usp=drive_copy)|[urban18.csv](https://drive.google.com/open?id=1hAq3q20pbAz9xLGD4w2mKWN8drktK-Mg&usp=drive_copy)|[urban19.bag](https://drive.google.com/open?id=19gCsvLBzXHXtPfewUMWJhTtrHhXqG1og&usp=drive_copy)|[urban19.txt](https://drive.google.com/open?id=1haYoCIT442tbpzkQRhQhiN8BlTZTDUEm&usp=drive_copy)|[urban19.csv](https://drive.google.com/open?id=1ASRWW858p-GpFfiZITS1tjXyY7feOm91&usp=drive_copy)|
+|[urban20.bag](https://drive.google.com/open?id=1c2ZbE2dCVWjqvnpE2FDyaEg-9eq3aSzR&usp=drive_copy)|[urban20.txt](https://drive.google.com/open?id=1vbX76X8cmlr-bETpC4j35LwFOYrm7K2V&usp=drive_copy)|[urban20.csv](https://drive.google.com/open?id=1zatY4blLVFPWgtjY-M831DaQ95Kq5_ZB&usp=drive_copy)|[urban21.bag](https://drive.google.com/open?id=17pKSBWBnWZCPuqCw1liWcN63yMOsjegy&usp=drive_copy)|[urban21.txt](https://drive.google.com/open?id=1vh8vEhgk54hgBKCdEbabS2S4CsaM_5Gb&usp=drive_copy)|[urban21.csv](https://drive.google.com/open?id=1A1KsegtdkFJ9GPWM5B3_irLTZXUDfH4X&usp=drive_copy)|
+|[urban22.bag](https://drive.google.com/open?id=19p_NsZKmLMzhP4ZnYZ8bKeMSsde2kKPl&usp=drive_copy)|[urban22.txt](https://drive.google.com/open?id=1KHKwqv_9WjKWprqVX6GS7IdSz2WjTQvM&usp=drive_copy)|[urban22.csv](https://drive.google.com/open?id=1tCNznrB2WuonmYOcAPJ0hLgX4T2tou-6&usp=drive_copy)|[urban23.bag](https://drive.google.com/open?id=13cnNKxU_-Q95ph9y8l2ZmydWDYdX1M8K&usp=drive_copy)|[urban23.txt](https://drive.google.com/open?id=1Ht-tohq4Bcw83HOuivECa2hSNL8yZsUt&usp=drive_copy)|[urban23.csv](https://drive.google.com/open?id=1u4zknw9v4MGaoREXDlLs0M_q47DNMt3H&usp=drive_copy)|
+|[urban24.bag](https://drive.google.com/open?id=17owKYyDWC67RtiPHkMIH4aRUMIX5wwPp&usp=drive_copy)|[urban24.txt](https://drive.google.com/open?id=1murp0mnpGMudcTCg7ANSkC0dedwXNyyc&usp=drive_copy)|[urban24.csv](https://drive.google.com/open?id=1OR6sFViwGKEifNj11apmqYhLogtZEMUd&usp=drive_copy)|[urban25.bag](https://drive.google.com/open?id=1VISLND6208plOh4SbQRyqaEbqB_IdUl8&usp=drive_copy)|[urban25.txt](https://drive.google.com/open?id=1ce4rYqQooEojFWQcEU82y0Xf5JLNZpst&usp=drive_copy)|[urban25.csv](https://drive.google.com/open?id=18zT43ZsK3r6CFUFz-2vN7DazXCNV7eTr&usp=drive_copy)|
+|[urban26.bag](https://drive.google.com/open?id=1TXMQc9R5qXc07AAadXN4Vo4ig8fWaoX7&usp=drive_copy)|[urban26.txt](https://drive.google.com/open?id=1WtuneVN-P8Dvcnp3EosothnLw1rn9Xon&usp=drive_copy)|[urban26.csv](https://drive.google.com/open?id=17ueerXJEIO6RxPXRC9WnxsZs3ZSQVhOM&usp=drive_copy)|[urban27.bag](https://drive.google.com/open?id=1bhYZSMxPhlSStJgf8vwN0Wkkv-mFBqmp&usp=drive_copy)|[urban27.txt](https://drive.google.com/open?id=1qpuH3BUp24hlYygJ1ENq9kASRmLwGf2-&usp=drive_copy)|[urban27.csv](https://drive.google.com/open?id=1-oBkkxnE1zeMq5xU9s9AdIJH2SsZOH4z&usp=drive_copy)|
+|[urban28.bag](https://drive.google.com/open?id=1jLPQVWvW8IU2VDyAphRPkEntf-7VEuqy&usp=drive_copy)|[urban28.txt](https://drive.google.com/open?id=1GrDSlJekqN7dbVeO3SlZda7iOYspm39v&usp=drive_copy)|[urban28.csv](https://drive.google.com/open?id=1z3LFyRuAIi_J8nwC06-0nxd8X8lMCGZn&usp=drive_copy)|[urban29.bag](https://drive.google.com/open?id=1wXhaMnl7O5YVt2ZAeYt2mvE6EUZbsV9t&usp=drive_copy)|[urban29.txt](https://drive.google.com/open?id=10lLf5JqzK9qDNdQRrt6UL8Nwz3tPc4fb&usp=drive_copy)|[urban29.csv](https://drive.google.com/open?id=1W0Ql2a2jQowuSKRLpj21UlkZ1Mkv4wiV&usp=drive_copy)|
+|[urban30.bag](https://drive.google.com/open?id=1RKeFV3NqDunqyra2tvFLwuUncxTeuKtJ&usp=drive_copy)|[urban30.txt](https://drive.google.com/open?id=1e4GRzcHmnhvk6F6m2zSzN6AXIzO5PtOs&usp=drive_copy)|[urban30.csv](https://drive.google.com/open?id=1A-jfRD8ITVJwrBjwY0ZoSB1lykJ0aQHd&usp=drive_copy)|[urban31.bag](https://drive.google.com/open?id=1k_5c_tgMTIoPatSaev68qgi_1ets-9Ne&usp=drive_copy)|[urban31.txt](https://drive.google.com/open?id=1ei1zR9v0DJqWTR9lggA1eUuOScpRsqo-&usp=drive_copy)|[urban31.csv](https://drive.google.com/open?id=1ShJpnJedT2CUUH2WO0YWy0idcvWpzQ-K&usp=drive_copy)|
+|[urban32.bag](https://drive.google.com/open?id=1SFTxgVUzK4eph_VeQsx7Tiux-vpmB_7P&usp=drive_copy)|[urban32.txt](https://drive.google.com/open?id=1oRi18bhWwqZWf15vSstjdQxmsboqQ8sy&usp=drive_copy)|[urban32.csv](https://drive.google.com/open?id=1oqut7k-rxQ3GK-4iWAOUeFVAg4o6s4Tm&usp=drive_copy)|[urban33.bag](https://drive.google.com/open?id=1a8FS2eA5rc2gv_Ozh5R4IJXoS4UsJw8Y&usp=drive_copy)|[urban33.txt](https://drive.google.com/open?id=1BEubUr8ZiPv7x9QEFbMxFzLR44hpnF5p&usp=drive_copy)|[urban33.csv](https://drive.google.com/open?id=1MvUTRsbP1MfmufJN7m9G2GnhpcAWChNY&usp=drive_copy)|
+|[urban34.bag](https://drive.google.com/open?id=1vYYQ9Kksv8vC07Vhd1vqhjG004NWz22a&usp=drive_copy)|[urban34.txt](https://drive.google.com/open?id=15JZrUYAKu3T8c-IITy-vgOYApWlmnFvm&usp=drive_copy)|[urban34.csv](https://drive.google.com/open?id=1XdODat7Lve9MckvWCuxwTkNDCcg99QWD&usp=drive_copy)|[urban35.bag](https://drive.google.com/open?id=1M7qZjOhp2HYIaNCTNVA4-cmJ7DoBB6H-&usp=drive_copy)|[urban35.txt](https://drive.google.com/open?id=1bNkKppTUIUXcV3JADG6otfC-E03MxEH7&usp=drive_copy)|[urban35.csv](https://drive.google.com/open?id=1ZuupbOuOhR8fQXeqIENRR0CUBGwapdpk&usp=drive_copy)|
+|[urban36.bag](https://drive.google.com/open?id=1ksYdYpuFuYLpQt-13YhW3OWEroAsXSgd&usp=drive_copy)|[urban36.txt](https://drive.google.com/open?id=1O0Q4HbNAAkNk2TPi18BQmyHKeIEjaPCA&usp=drive_copy)|[urban36.csv](https://drive.google.com/open?id=1EZDNj4lK5JKBMLtVmwJG533LIVc6SU6Z&usp=drive_copy)|[urban37.bag](https://drive.google.com/open?id=1FjYRs0XDtbY4oVkIYnr8u7P-kE8X8Vs4&usp=drive_copy)|[urban37.txt](https://drive.google.com/open?id=113hoQYBKv_nxgZP8nGKjOVPoqHI21kdB&usp=drive_copy)|[urban37.csv](https://drive.google.com/open?id=1Zw_gsH-JRVPTZp4ynQ-SrvyULssksqxp&usp=drive_copy)|
+|[urban38.bag](https://drive.google.com/open?id=1g2QmL1mcGuiJ8M2Dd9d9ha7C3WQGHNmx&usp=drive_copy)|[urban38.txt](https://drive.google.com/open?id=1WfbbjzKMJ4dmG82ZrMm9fE-Ngas3gVmN&usp=drive_copy)|[urban38.csv](https://drive.google.com/open?id=1l6_J-81LJVJRzO7QulRgUwQNd6zifdzZ&usp=drive_copy)|[urban39.bag](https://drive.google.com/open?id=1Dva7dk2zbU4vXH0Nykr8M9VcVpwmLorc&usp=drive_copy)|[urban39.txt](https://drive.google.com/open?id=1HIxZIATwf57e9bWUTu4AnIuOZB4J4YIl&usp=drive_copy)|[urban39.csv](https://drive.google.com/open?id=1AyA2LH6d1vVAs2KP4l1l_2ho7MOhZLEp&usp=drive_copy)|
 #### Subscribing to the ros messages
 ```roslaunch mins subscribe.launch config:=euroc_mav rosbag:=V1_03_difficult.bag bag_start_time:=0```