RGBD Dataset with Structure Ground Truth (Cow and Lady, Voxblox)

This is a small dataset featuring structure ground truth, vicon poses, and colored RGB pointclouds of a small indoor scene with a cow, mannequin, and a few other typical office accessories. Most importantly, the dataset also contains structure ground truth as a PLY Pointcloud, created from multiple scans with a Leica MS50 professional laser scanner. It is associated with the voxblox publication. See README.pdf for details.本数据集为小型数据集，涵盖包含奶牛模型、人体模型及若干典型办公配件的小型室内场景的结构地面真值、Vicon位姿与彩色RGB点云。尤为重要的是，本数据集还包含通过徕卡（Leica）MS50专业激光扫描仪多次扫描生成的PLY格式点云形式的结构地面真值。本数据集与voxblox发表成果相关联，详细信息请参阅README.pdf。