Newer College Dataset Extension

In this expansion dataset, we have extended the ground truth pointcloud of New College to include the colllege’s cloister (featured in Harry Potter films) and the Monk’s Passage. We also introduce another outdoor large scale environment, Maths Institute at the University of Oxford, which is shown in the figure below (right). Collection 1 and 2 contain datasets collected in New college, where the Park sequence mimics the original long sequence of the 2011 New College Dataset. Collection 3 contains three difficulty levels around the Maths Institute environment. Note that in this dataset Lidar, Cameras and IMU are all hardware synchronised through PTP.