CID-SIMS: Complex indoor dataset with semantic information and multi-sensor data from a ground wheeled robot viewpoint
Yidi Zhang,
Ning An,
Chenhui Shi
et al.
Abstract:Simultaneous localization and mapping (SLAM) and 3D reconstruction have numerous applications for indoor ground wheeled robots such as floor sweeping and food delivery. To advance research in leveraging semantic information and multi-sensor data to enhance the performances of SLAM and 3D reconstruction in complex indoor scenes, we propose a novel and complex indoor dataset named CID-SIMS, where semantic annotated RGBD images, inertial measurement unit (IMU) measurements, and wheel odometer data are provided fr… Show more
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