BobH62/SLABIM

SLABIM是一个开源的SLAM数据集，与建筑信息模型(BIM)相结合。该数据集包含了香港科技大学主楼部分的BIM模型，具有多种类型的办公室、教室、休息室和走廊。数据集收集了跨越不同楼层和区域的12个会话，涵盖了各种室内场景。为了展示SLABIM的实际应用性，对其进行了三种不同任务的测试：LiDAR-to-BIM注册、基于BIM的机器人位姿跟踪和语义映射。

SLABIM is an open-sourced SLAM dataset that couples with BIM (Building Information Modeling). The BIM model of this dataset is a part of the digital twin project in HKUST, featuring various types of offices, classrooms, lounges, and corridors. The dataset includes 12 sessions across different floors and regions, encompassing various indoor scenarios. To demonstrate the practicality of SLABIM, three different tasks are tested: LiDAR-to-BIM registration, robot pose tracking on BIM, and semantic mapping.