Collaborative SLAM Dataset (CSD)

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Collaborative SLAM Dataset (CSD)

The dataset consists of four different subsets - Flat, House, Priory and Lab - each containing several RGB-D sequences that can be reconstructed and successfully relocalised against each other to form a combined 3D model. Each sequence was captured using an Asus ZenFone AR, and we provide an accurate local 6D pose for each RGB-D frame in the dataset. We also provide the calibration parameters for the depth and colour sensors, optimised global poses for the sequences in each subset, and a pre-built mesh of each sequence. (Golodetz, Cavallari, Lord, Prisacariu, Murray, Torr)

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