ConSLAM
Construction Dataset for SLAM
3DLiDARPoint cloudRGB VideoTrackingVideosCopyright (C) 2023, University of Cambridge, all rights reserved.Introduced 2023-10-22
ConSLAM is a real-world dataset collected periodically on a construction site to measure the accuracy of mobile scanners' SLAM algorithms.
The dataset contains time-synchronized and spatially registered RGB and NIR images and 360-deg LiDAR scans, 9-axis IMU measurements, and professional ground-truth terrestrial laser scans. This dataset reflects the periodic need to scan construction sites with the aim of accurately monitoring progress using a hand-held scanner. The sensors used for data acquisition are:
- LiDAR: Velodyne VLP-16.
- RGB camera: Alvium U-319c, 3.2 MP.
- NIR camera: Alvium 1800 U-501, 5.0 MP.
- 9-axis IMU: Xsens MTi-610.