Data set for the evaluation of SLAM systems in challenging terrains. The data set covers four sequences with challenging terrain, each tracked with a high-performance Qualisys optical motion capture system. The four sequences contain 1) double pitch ramps, which induce a fast pitch motion when traversing 2) a loose woodpile which slips when traversed 3) the RoboCup Rescue League "Maneuvering 3 - Traverse" lane which contains a 2.4m long 30-degree incline 4) the RoboCup Rescue League "Mobility 4 - Elevated Ramps" lane containing a diagonal hill terrain consisting of 60 cm ramps with sloped tops. The sequences are between 59 s and 149 s in duration.

Corresponding to the publication: K. Daun, M. Schnaubelt, S. Kohlbrecher and O. von Stryk, "HectorGrapher: Continuous-time Lidar SLAM with Multi-resolution Signed Distance Function Registration for Challenging Terrain," 2021 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), New York City, NY, USA, 2021, pp. 152-159, doi: 10.1109/SSRR53300.2021.9597690 Add to Citavi project by DOI.