Event
Release of 360-degree visual-inertial SLAM dataset and challenge results
1 reports · 1 sources
The author team led by Centanni released the Hilti-Trimble-Oxford dataset, collected from an active construction site, containing 30 visual-inertial sequences covering 10 floors over a span of 8 months, encompassing real-world challenges such as lighting changes, moving workers, fast motion, and repetitive structures. Ground-truth trajectories were collected by a high-precision laser-inertial SLAM system rigidly mounted on a 360 camera. In the accompanying open research challenge, the SLAM track had 62 participating teams, while the floor-plan localization track had only 22, indicating that the latter received less attention.
Report timeline
- 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.
arXiv cs.RO ·