BS3D: Building-scale 3D Reconstruction from RGB-D Images

The BS3D dataset was collected at the University of Oulu campus using a depth camera (Azure Kinect). The recordings were processed using the framework described in the paper "BS3D: Building-scale 3D Reconstruction from RGB-D Images", SCIA 2023. The data collection was done in multiple sessions due to the large scale of the environment. The dataset consists of 47 sessions and 15 additional sessions with 3D laser scans (FARO 3D X 130). The dataset includes the original recordings (MKV files), color images, depth maps, infrared images, and inertial measurements. It also includes camera poses, surface reconstructions (mesh), enhanced depth maps, and normal maps that have been rendered from the mesh. Laser scans (point clouds) are also included that cover a subset of the environment.