mlsanityData to 14 Oct 2026

Multi-Camera LiDAR Inertial Extension to the Newer College Dataset

arXiv 2112.08854 ↗First posted 16 Dec 2021cs.RO cs.CVcited by 17

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Abstract (arXiv)

We present a multi-camera LiDAR inertial dataset of 4.5 km walking distance as an expansion of the Newer College Dataset. The global shutter multi-camera device is hardware synchronized with both the IMU and LiDAR, which is more accurate than the original dataset with software synchronization. This dataset also provides six Degrees of Freedom (DoF) ground truth poses at LiDAR frequency (10 Hz). Three data collections are described and an example use case of multi-camera visual-inertial odometry is demonstrated. This expansion dataset contains small and narrow passages, large scale open spaces, as well as vegetated areas, to test localization and mapping systems. Furthermore, some sequences present challenging situations such as abrupt lighting change, textureless surfaces, and aggressive motion. The dataset is available at: https://ori-drs.github. io/newer-college-dataset/

Key facts. Cited by 17 papers in the map (data through 14 Oct 2026). Builds on 7 of its 11 references that are in the map. First posted on arXiv 16 Dec 2021.

Builds on

7 of 11 references.

References · 7

  1. 2020ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAMcited by 878
  2. 2019WoodScape: A multi-task, multi-camera fisheye dataset for autonomous drivingcited by 144
  3. 2018The TUM VI Benchmark for Evaluating Visual-Inertial Odometrycited by 99
  4. 2020The Newer College Dataset: Handheld LiDAR, Inertial and Vision with Ground Truthcited by 61
  5. 2017Deep Multi-camera People Detectioncited by 37
  6. 2021The Hilti SLAM Challenge Datasetcited by 18
  7. 2021Balancing the Budget: Feature Selection and Tracking for Multi-Camera Visual-Inertial Odometrycited by 6

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2022: 2; 2023: 1; 2024: 5; 2025: 4; 2026: 5.

17 papers.

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  1. 2025Benchmarking Egocentric Visual-Inertial SLAM at City Scalecited by 14
  2. 2024Customizable Perturbation Synthesis for Robust SLAM Benchmarkingcited by 6
  3. 2024Visual Localization in 3D Maps: Comparing Point Cloud, Mesh, and NeRF Representationscited by 4
  4. 2024ROVER: A Multi-Season Dataset for Visual SLAMcited by 4
  5. 2025Splat-LOAM: Gaussian Splatting LiDAR Odometry and Mappingcited by 4
  6. 2023Photometric LiDAR and RGB-D Bundle Adjustmentcited by 2
  7. 2022Lossless SIMD Compression of LiDAR Range and Attribute Scan Sequencescited by 1
  8. 2024Cooperative Visual-LiDAR Extrinsic Calibration Technology for Intersection Vehicle-Infrastructure: A reviewcited by 1
  9. 2024From Perfect to Noisy World Simulation: Customizable Embodied Multi-modal Perturbations for SLAM Robustness Benchmarkingcited by 1
  10. 2025OREN: Octree Residual Network for Real-Time Euclidean Signed Distance Mappingcited by 1
  11. 2026From Distances to Trajectories: Real-Time Signed Distance Function Mapping and Distance-Accelerated Motion Planning for UAVscited by 1
  12. 2022Online Localisation and Colored Mesh Reconstruction Architecture for 3D Visual Feedback in Robotic Exploration Missionscited by 0
5 more
  1. 2025Multi-LVI-SAM: A Robust LiDAR-Visual-Inertial Odometry for Multiple Fisheye Camerascited by 0
  2. 2026Efficient Hierarchical Any-Angle Path Planning on Multi-Resolution 3D Gridscited by 0
  3. 2026G-EDF-Loc: 3D Continuous Gaussian Distance Field for Robust Gradient-Based 6DoF Localizationcited by 0
  4. 2026UpDown-SC: Gravity-Canonicalized Dual-Envelope Scan Context for Indoor LiDAR Place Recognitioncited by 0
  5. 2026HIGS: Hierarchical Implicit Grids for Joint Geometric and Semantic Scene Understandingcited by 0