mlsanityData to 7 Oct 2026

The Newer College Dataset: Handheld LiDAR, Inertial and Vision with Ground Truth

arXiv 2003.05691 ↗First posted 12 Mar 2020cs.ROcited by 61

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Abstract (arXiv)

In this paper we present a large dataset with a variety of mobile mapping sensors collected using a handheld device carried at typical walking speeds for nearly 2.2 km through New College, Oxford. The dataset includes data from two commercially available devices - a stereoscopic-inertial camera and a multi-beam 3D LiDAR, which also provides inertial measurements. Additionally, we used a tripod-mounted survey grade LiDAR scanner to capture a detailed millimeter-accurate 3D map of the test location (containing ~290 million points). Using the map we inferred centimeter-accurate 6 Degree of Freedom (DoF) ground truth for the position of the device for each LiDAR scan to enable better evaluation of LiDAR and vision localisation, mapping and reconstruction systems. This ground truth is the particular novel contribution of this dataset and we believe that it will enable systematic evaluation which many similar datasets have lacked. The dataset combines both built environments, open spaces and vegetated areas so as to test localization and mapping systems such as vision-based navigation, visual and LiDAR SLAM, 3D LIDAR reconstruction and appearance-based place recognition. The dataset is available at: ori.ox.ac.uk/datasets/newer-college-dataset

Key facts. Cited by 61 papers in the map (data through 7 Oct 2026). First posted on arXiv 12 Mar 2020.

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Citing papers per year: 2021: 9; 2022: 10; 2023: 3; 2024: 19; 2025: 15; 2026: 5.

61 papers.

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  1. 2024How NeRFs and 3D Gaussian Splatting are Reshaping SLAM: a Surveycited by 72
  2. 2024A Survey on Autonomous Driving Datasets: Statistics, Annotation Quality, and a Future Outlookcited by 65
  3. 2022VECtor: A Versatile Event-Centric Benchmark for Multi-Sensor SLAMcited by 45
  4. 2022SHINE-Mapping: Large-Scale 3D Mapping Using Sparse Hierarchical Implicit Neural Representationscited by 44
  5. 2024PIN-SLAM: LiDAR SLAM Using a Point-Based Implicit Neural Representation for Achieving Global Map Consistencycited by 42
  6. 2023NeRF-LOAM: Neural Implicit Representation for Large-Scale Incremental LiDAR Odometry and Mappingcited by 41
  7. 2021CT-ICP: Real-time Elastic LiDAR Odometry with Loop Closurecited by 38
  8. 2023Towards Robust Robot 3D Perception in Urban Environments: The UT Campus Object Datasetcited by 28
  9. 2024The Oxford Spires Dataset: Benchmarking Large-Scale LiDAR-Visual Localisation, Reconstruction and Radiance Field Methodscited by 27
  10. 2021VILENS: Visual, Inertial, Lidar, and Leg Odometry for All-Terrain Legged Robotscited by 25
  11. 2024General Place Recognition Survey: Towards Real-World Autonomycited by 23
  12. 2021The Hilti SLAM Challenge Datasetcited by 18
38 more
  1. 2021Multi-Camera LiDAR Inertial Extension to the Newer College Datasetcited by 17
  2. 2024MCD: Diverse Large-Scale Multi-Campus Dataset for Robot Perceptioncited by 15
  3. 2024VBR: A Vision Benchmark in Romecited by 15
  4. 2024IoT-LM: Large Multisensory Language Models for the Internet of Thingscited by 14
  5. 2025VPGS-SLAM: Voxel-based Progressive 3D Gaussian SLAM in Large-Scale Scenescited by 12
  6. 2025Benchmarking Egocentric Visual-Inertial SLAM at City Scalecited by 12
  7. 2022A Survey on RGB-D Datasetscited by 11
  8. 2022General Place Recognition Survey: Towards the Real-world Autonomy Agecited by 11
  9. 2024HGS-Mapping: Online Dense Mapping Using Hybrid Gaussian Representation in Urban Scenescited by 11
  10. 2021Real-time Multi-Adaptive-Resolution-Surfel 6D LiDAR Odometry using Continuous-time Trajectory Optimizationcited by 9
  11. 20243D LiDAR Mapping in Dynamic Environments Using a 4D Implicit Neural Representationcited by 8
  12. 2025BUFFER-X: Towards Zero-Shot Point Cloud Registration in Diverse Scenescited by 8
  13. 2025Seeing in the Dark: Benchmarking Egocentric 3D Vision with the Oxford Day-and-Night Datasetcited by 8
  14. 2025Register Any Point: Scaling 3D Point Cloud Registration by Flow Matchingcited by 8
  15. 2022Semantic Visual Simultaneous Localization and Mapping: A Surveycited by 7
  16. 2021Stein ICP for Uncertainty Estimation in Point Cloud Matchingcited by 6
  17. 2021Balancing the Budget: Feature Selection and Tracking for Multi-Camera Visual-Inertial Odometrycited by 6
  18. 2022Outdoor Monocular Depth Estimation: A Research Reviewcited by 4
  19. 2024MAD-ICP: It Is All About Matching Data -- Robust and Informed LiDAR Odometrycited by 4
  20. 2024ROVER: A Multi-Season Dataset for Visual SLAMcited by 4
  21. 20213D3L: Deep Learned 3D Keypoint Detection and Description for LiDARscited by 3
  22. 20243DRef: 3D Dataset and Benchmark for Reflection Detection in RGB and Lidar Datacited by 3
  23. 2025Learning IMU Bias with Diffusion Modelcited by 3
  24. 2025Princeton365: A Diverse Dataset with Accurate Camera Posecited by 3
  25. 2025A Minimal Subset Approach for Informed Keyframe Sampling in Large-Scale SLAMcited by 2
  26. 2025From Gaming to Research: GTA V for Synthetic Data Generation for Robotics and Navigationscited by 2
  27. 2021Lidar-Monocular Surface Reconstruction Using Line Segmentscited by 1
  28. 2022SRVIO: Super Robust Visual Inertial Odometry for dynamic environments and challenging Loop-closure conditionscited by 1
  29. 2022PolyU-BPCoMa: A Dataset and Benchmark Towards Mobile Colorized Mapping Using a Backpack Multisensorial Systemcited by 1
  30. 2023MultiIoT: Benchmarking Machine Learning for the Internet of Thingscited by 1
  31. 2024Neural Implicit Representation for Highly Dynamic LiDAR Mapping and Odometrycited by 1
  32. 2024A Probabilistic Formulation of LiDAR Mapping with Neural Radiance Fieldscited by 1
  33. 2025CULTURE3D: A Large-Scale and Diverse Dataset of Cultural Landmarks and Terrains for Gaussian-Based Scene Renderingcited by 1
  34. 2025SLAM&Render: A Benchmark for the Intersection Between Neural Rendering, Gaussian Splatting and SLAMcited by 1
  35. 2026Towards Zero-Shot Point Cloud Registration Across Diverse Scales, Scenes, and Sensor Setupscited by 1
  36. 2026Characterizing Lidar Range-Measurement Ambiguity due to Multiple Returnscited by 1
  37. 2022Semi-supervised Vector-Quantization in Visual SLAM using HGCNcited by 0
  38. 2022Online Localisation and Colored Mesh Reconstruction Architecture for 3D Visual Feedback in Robotic Exploration Missionscited by 0

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