# PolyU-BPCoMa: A Dataset and Benchmark Towards Mobile Colorized Mapping Using a Backpack Multisensorial System

arXiv: https://arxiv.org/abs/2206.07468 · HTML: https://mlsanity.com/paper/2206.07468/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 7 of its 33 references that are in the map.
- First posted on arXiv 15 Jun 2022.

## Builds on (most cited first, 7 of 7)

- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping](https://mlsanity.com/paper/2007.00258/) (2020)
- [The Oxford Radar RobotCar Dataset: A Radar Extension to the Oxford RobotCar Dataset](https://mlsanity.com/paper/1909.01300/) (2019)
- [The TUM VI Benchmark for Evaluating Visual-Inertial Odometry](https://mlsanity.com/paper/1804.06120/) (2018)
- [The Newer College Dataset: Handheld LiDAR, Inertial and Vision with Ground Truth](https://mlsanity.com/paper/2003.05691/) (2020)
- [NTU VIRAL: A Visual-Inertial-Ranging-Lidar Dataset, From an Aerial Vehicle Viewpoint](https://mlsanity.com/paper/2202.00379/) (2022)
- [Are We Ready for Unmanned Surface Vehicles in Inland Waterways? The USVInland Multisensor Dataset and Benchmark](https://mlsanity.com/paper/2103.05383/) (2021)

## Built on by (most cited first, 1 of 1)

- [Reproducible Evaluation of Camera Auto-Exposure Methods in the Field: Platform, Benchmark and Lessons Learned](https://mlsanity.com/paper/2506.18844/) (2025)

## Abstract (arXiv)

Constructing colorized point clouds from mobile laser scanning and images is a fundamental work in surveying and mapping. It is also an essential prerequisite for building digital twins for smart cities. However, existing public datasets are either in relatively small scales or lack accurate geometrical and color ground truth. This paper documents a multisensorial dataset named PolyU-BPCoMA which is distinctively positioned towards mobile colorized mapping. The dataset incorporates resources of 3D LiDAR, spherical imaging, GNSS and IMU on a backpack platform. Color checker boards are pasted in each surveyed area as targets and ground truth data are collected by an advanced terrestrial laser scanner (TLS). 3D geometrical and color information can be recovered in the colorized point clouds produced by the backpack system and the TLS, respectively. Accordingly, we provide an opportunity to benchmark the mapping and colorization accuracy simultaneously for a mobile multisensorial system. The dataset is approximately 800 GB in size covering both indoor and outdoor environments. The dataset and development kits are available at https://github.com/chenpengxin/PolyU-BPCoMa.git.