Urban Place Recognition Dataset

This dataset provides visual and inertial information as well as manually-annotated ground-truth for sequences specifically captured for place recognition tasks, outdoors in urban scenes. The recordings were made with a side-looking camera using hand-held setups at different heights, as well as with the help of a drone, visiting the same scene at different times of the day and the year. As a result, this dataset poses significant challenges in viewpoint, illumination and situational changes.

All the sequences were recorded using a high quality visual-inertial sensor providing monocular, grayscale, global-shutter images at 20 Hz and time-synchronized inertial measurements. This dataset is freeley available and can be downloaded from external pageherecall_made.

Users of this dataset are asked to cite the following paper, where it was originally presented:

Fabiola Maffra, Zetao Chen and Margarita Chli, “Viewpoint-tolerant Place Recognition combining 2D and 3D information for UAV navigation”, in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2018. external pageDOIcall_made external pageE-citationscall_made