  This paper presents the ShanghaiTech Mapping Robot, a state-of-the-art
unmanned ground vehicle (UGV) designed for collecting comprehensive
multi-sensor datasets to support research in robotics, computer vision, and
autonomous driving. The robot is equipped with a wide array of sensors
including RGB cameras, RGB-D cameras, event-based cameras, IR cameras, LiDARs,
mmWave radars, IMUs, ultrasonic range finders, and a GNSS RTK receiver. The
sensor suite is integrated onto a specially designed mechanical structure with
a centralized power system and a synchronization mechanism to ensure spatial
and temporal alignment of the sensor data. A 16-node on-board computing cluster
handles sensor control, data collection, and storage. We describe the hardware
and software architecture of the robot in detail and discuss the calibration
procedures for the various sensors. The capabilities of the platform are
demonstrated through an extensive dataset collected in diverse real-world
environments. To facilitate research, we make the dataset publicly available
along with the associated robot sensor calibration data. Performance
evaluations on a set of standard perception and localization tasks showcase the
potential of the dataset to support developments in Robot Autonomy.
