# Advanced Mapping Robot and High-Resolution Dataset

arXiv: https://arxiv.org/abs/2007.12497 · HTML: https://mlsanity.com/paper/2007.12497/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 23 Jul 2020.

## Built on by (most cited first, 3 of 3)

- [SST-Calib: Simultaneous Spatial-Temporal Parameter Calibration between LIDAR and Camera](https://mlsanity.com/paper/2207.03704/) (2022)
- [Accurate calibration of multi-perspective cameras from a generalization of the hand-eye constraint](https://mlsanity.com/paper/2202.00886/) (2022)
- [High-Quality, ROS Compatible Video Encoding and Decoding for High-Definition Datasets](https://mlsanity.com/paper/2408.00538/) (2024)

## Abstract (arXiv)

This paper presents a fully hardware synchronized mapping robot with support for a hardware synchronized external tracking system, for super-precise timing and localization. Nine high-resolution cameras and two 32-beam 3D Lidars were used along with a professional, static 3D scanner for ground truth map collection. With all the sensors calibrated on the mapping robot, three datasets are collected to evaluate the performance of mapping algorithms within a room and between rooms. Based on these datasets we generate maps and trajectory data, which is then fed into evaluation algorithms. We provide the datasets for download and the mapping and evaluation procedures are made in a very easily reproducible manner for maximum comparability. We have also conducted a survey on available robotics-related datasets and compiled a big table with those datasets and a number of properties of them.