Publication: Hilti-Oxford Dataset: A Millimeter-Accurate Benchmark for Simultaneous Localization and Mapping
Hilti-Oxford Dataset: A Millimeter-Accurate Benchmark for Simultaneous Localization and Mapping
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Zhang, L., Helmberger, M., Fu, L. F. T., Wisth, D., Camurri, M., Scaramuzza, D., & Fallon, M. (2023). Hilti-Oxford Dataset: A Millimeter-Accurate Benchmark for Simultaneous Localization and Mapping. IEEE Robotics and Automation Letters, 8(1), 408–415. https://doi.org/10.1109/LRA.2022.3226077
Abstract
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Simultaneous Localization and Mapping (SLAM) is being deployed in real-world applications, however many state-of-the-art solutions still struggle in many common scenarios. A key necessity in progressing SLAM research is the availability of high-quality datasets and fair and transparent benchmarking. To this end, we have created the Hilti-Oxford Dataset, to push state-of-the-art SLAM systems to their limits. The dataset has a variety of challenges ranging from sparse and regular construction sites to a 17th century neoclassical buildin
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Creators (Authors)
- Zhang, Lintong
- Helmberger, Michael
- Fu, Lanke Frank Tarimo
- Wisth, David
- Camurri, Marco
- Scaramuzza, Davide
- Fallon, Maurice
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Citations
Zhang, L., Helmberger, M., Fu, L. F. T., Wisth, D., Camurri, M., Scaramuzza, D., & Fallon, M. (2023). Hilti-Oxford Dataset: A Millimeter-Accurate Benchmark for Simultaneous Localization and Mapping. IEEE Robotics and Automation Letters, 8(1), 408–415. https://doi.org/10.1109/LRA.2022.3226077
