Cambridge Landmarks Dataset

Cambridge Landmarks, a large scale outdoor visual relocalisation dataset taken around Cambridge University. Contains original video, with extracted image frames labelled with their 6-DOF camera pose and a visual reconstruction of the scene. If you use this data, please cite our paper: Alex Kendall, Matthew Grimes and Roberto Cipolla "PoseNet: A Convolutional Network for Real-Time 6-DOF Camera Relocalization." Proceedings of the International Conference on Computer Vision (ICCV), 2015.

Links to individual scenes (see: https://github.com/GrumpyZhou/visloc-apr/issues/3):

Old Hospital: https://www.repository.cam.ac.uk/handle/1810/251340

Kings College: https://www.repository.cam.ac.uk/handle/1810/251342

St. Marys Church: https://www.repository.cam.ac.uk/handle/1810/251294

Great Court: https://www.repository.cam.ac.uk/handle/1810/251291

Shop Facade: https://www.repository.cam.ac.uk/handle/1810/251336

Street: https://www.repository.cam.ac.uk/handle/1810/251292

剑桥地标数据集，系大规模室外视觉重定位数据集，采集于剑桥大学周边。数据集包含原始视频、提取的图像帧，并对其6自由度相机姿态进行标注，同时附有场景的视觉重建。若您使用本数据集，敬请引用本团队之论文：Alex Kendall、Matthew Grimes与Roberto Cipolla所著《PoseNet：一种用于实时6自由度相机重定位的卷积神经网络》。论文发表于《国际计算机视觉会议》（ICCV），2015年。

场景链接（详见：https://github.com/GrumpyZhou/visloc-apr/issues/3）：

旧医院：https://www.repository.cam.ac.uk/handle/1810/251340

国王学院：https://www.repository.cam.ac.uk/handle/1810/251342

圣玛丽教堂：https://www.repository.cam.ac.uk/handle/1810/251294

大法庭：https://www.repository.cam.ac.uk/handle/1810/251291

商店立面：https://www.repository.cam.ac.uk/handle/1810/251336

街道：https://www.repository.cam.ac.uk/handle/1810/251292