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

- Source: arXiv cs.RO
- Published: 2026-10-22T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/zm1382t3oq0z6ge3puc7jmbkb
- Original: https://arxiv.org/abs/2607.06464

## Summary

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.