|Name||Size||Data description||Ground truth|
|mimap in slam 00||1.43 GB||A two-floor building scene. The scans scanned by a Velodyne Ultra pack include data of individual rooms, non-enclosed loop corridors and stairs. Ground truth point cloud scanned by a Rigel VZ 1000 includes the corridors and stairs.|
|mimap in slam 01||0.93 GB||A five-floor building scene. The scans scanned by a Velodyne Ultra pack include data of non-enclosed loop corridors and stairs. No ground truth data is provided.||Please submit your results for evaluation|
|mimap in slam 02||1.96 GB||A five-floor building scene. The scans scanned by a Velodyne HDL-32e include data of enclosed loop corridors and stairs. No ground truth data is provided.||Please submit your results for evaluation|
The MiMAP benchmark is published under the Creative Commons Attribution-NonCommercial-ShareAlike 3.0 License (https://creativecommons.org/licenses/by-nc-sa/3.0/).You must attribute the work in the manner specified by the authors, you may not use this work for commercial purposes and if you alter, transform, or build upon this work, you may distribute the resulting work only under the same license. Contact us if you are interested in commercial usage.
If you use MiMAP benchmark, please cite both the following papers:
C. Wen, Y. Dai, Y. Xia, Y. Lian, C. Wang, J. Li, Towards Efficient 3-D Colored Mapping in GPS/GNSS-denied Environments, IEEE Geoscience and Remote Sensing Letters, 17, 147-151, 2020.
C. Wang, S. Hou, C. Wen, Z. Gong, Q. Li, X. Sun, J. Li, Semantic Line Framework-based Indoor Building Modeling using Backpacked Laser Scanning Point Cloud, ISPRS Journal of Photogrammetry and Remote Sensing, Vol. 143, pp. 150-166, 2018.