Dynamic Scenes Dataset for Visual SLAM

The "Dynamic Scenes" Dataset is provided for testing visual loop closure detection algorithms of SLAM in highly dynamic scenes. It has a strong background in some crucial applications such as autonomous driving systems. The dataset was captured in the central commercial district of a city of ten million people. The “Dynamic Scenes” dataset contains two sequences as shown in the figure above. The first one, which was acquired by traveling around a lake as the blue trajectory, named “Road Ring.” The other sequence, named “CBD,” was acquired by traveling around a business district, and is depicted by the red and green trajectories. The entire dataset was recorded by a ZED stereo camera at 1280 × 460 resolution @ 60fps. The loop closure ground truth is formatted as two similarity matrices in the MAT files. Note that the "Dynamic Scenes" dataset can also be used for testing localization or image retrieval algorithms as well. Please download the volume-dividing compression packages into one directory and decompress the files. Please refer to "coordinate.xls" for the benchmark loop closures labeled manually.