PolyU-BPCoMa

PolyU-BPCoMa数据集由香港理工大学开发，专注于移动彩色地图构建。该数据集包含3D激光雷达、球面成像、GNSS和IMU等多种传感器数据，通过背包多传感器系统收集。数据集大小约为800GB，覆盖室内外环境，包括特殊地点如地下隧道和楼梯。数据集的创建过程中，使用先进的地面激光扫描仪（TLS）收集地面实况数据，并在每个调查区域粘贴彩色检查板作为目标。PolyU-BPCoMa数据集旨在解决智能城市数字双胞胎构建中的基本测绘和彩色点云生成问题，提供了一个同时评估地图绘制和彩色化精度的基准。

The PolyU-BPCoMa dataset, developed by The Hong Kong Polytechnic University, focuses on mobile colored map construction. This dataset encompasses various sensor data including 3D LiDAR, spherical imaging, GNSS, and IMU, which are collected via a backpack-mounted multi-sensor system. The dataset has a total size of approximately 800 GB, covering both indoor and outdoor environments, including special locations such as underground tunnels and staircases. During the dataset's creation process, advanced Terrestrial Laser Scanners (TLS) were used to collect ground truth data, and colored checkboard targets were affixed in each survey area. The PolyU-BPCoMa dataset aims to address fundamental challenges in surveying and mapping and colored point cloud generation for smart city digital twin construction, and serves as a benchmark for simultaneously evaluating the accuracy of both map construction and colorization.