Wild-Places Dataset

Wild-Places is a large-scale LiDAR dataset for inter and intra-run place recognition in unstructured natural environments. The data was collected in two environments at the Karawatha and Venman walking trails in Brisbane, Australia over fourteen months, allowing for research into both long and short-term revisits. We release sub-maps produced from a global point cloud for four sequences in both environments for a total of ~67K submaps, with accurate 6DoF poses and timestamps for each submap.Wild-Places是一款面向非结构化自然环境中跨采集序列与单采集序列内场所识别的大规模激光雷达（LiDAR）数据集。该数据集于澳大利亚布里斯班的Karawatha与Venman步行步道两处环境中采集，历时十四个月，可支撑长期与短期重访场景的相关研究。我们发布了基于全局点云生成的子地图，涵盖两处环境中的四个采集序列，总计约六万七千个子地图，各子地图均附带精确的6自由度（6DoF）位姿与时间戳信息。