Mt Coot-tha Forest and QCAT 3D Point Cloud Datasets

This collection of data includes two main datasets of 3D point cloud and trajectory data. The first dataset was collected in Mt Coot-tha Forest, in Brisbane, Australia. The second dataset was acquired at QCAT, a mixed office and industrial site, also in Brisbane. The data were acquired with a handheld 3D lidar system called Zebedee. These datasets may be useful for several purposes, ranging from design and analysis of mapping algorithms to forestry applications. The data were originally collected for demonstrating and evaluating place recognition algorithms.

本数据集集合包含两类核心数据集：三维点云（3D point cloud）数据与轨迹数据。其中第一份数据集采集于澳大利亚布里斯班的库塔山森林（Mt Coot-tha Forest）；第二份数据集则采集于同样位于布里斯班的QCAT混合办公与工业场地。本次数据采集使用了名为Zebedee的手持三维激光雷达（lidar）系统。本数据集可应用于多种场景，涵盖制图算法的设计与分析乃至林业相关应用，其最初采集的目的为演示与评估场所识别（place recognition）算法。