Article

Hilti-Trimble-Oxford dataset released: a benchmark for 360-degree visual-inertial SLAM and floor plan localization

The paper releases the Hilti-Trimble-Oxford dataset, collected at an active construction site. It contains 30 visual-inertial sequences covering 10 floors over an eight-month span, and captures real-world challenges such as changing lighting, moving workers, fast motion, and repetitive structures. Ground-truth trajectories were collected with a high-precision LiDAR-inertial SLAM system rigidly attached to the 360 camera. The authors also report results from the accompanying open research challenge: 62 teams entered the SLAM track, while only 22 entered floor plan localization, indicating less attention to the latter.

Part of the event: Release of 360-degree visual-inertial SLAM dataset and challenge results

This page provides a summary and source link only.