Camera-LiDAR Datasets

Traditional methods often struggle with aligning 2D-3D data from sources that have different coordinate systems and resolutions. Our collection comprises six datasets from two distinct setups, designed to enhance versatility in our approach and improve matching accuracy across both high-feature and low-feature environments.

Survey-Grade Terrestrial Dataset: Collection Details: Data was gathered across various scenes on the University of New Brunswick campus, including low-feature walls, high-feature laboratory rooms, and outdoor tree environments. Equipment: LiDAR data was captured using a Trimble TX5 3D Laser Scanner, while optical images were taken with a Canon EOS 5D Mark III DSLR camera. Mobile Mapping System Dataset: Collection Details: This dataset was collected using our custom-built Simultaneous Localization and Multi-Sensor Mapping Robot (SLAMM-BOT) in several indoor mobile scenes to validate our methods.