LIDAR scan, photos and image-based reconstruction of sofa corner

This data set provides photographs and a continuous LIDAR scan (using the Velodyne VLP-16) of a sofa corner at Simula Research Laboratory that were created for the BUISAR project funded by the researcher council of Norway (project number 270951). A 3D reconstruction of the sofa corner was created using Meshroom (http://github.com/alicevision/meshroom) with support from the LADIO project. The LIDAR scan takes the form of a network trace (.pcap file). This file can be read and interpreted as a point cloud by the Point Cloud Library (PCL, https://github.com/PointCloudLibrary/pcl). Since the VLP-16 comes without motion sensors, the user of the LIDAR scan can either interpret the data as a series of frames, or attempt to align the recorded voxels in a global space. No ground truth for this is provided.

本数据集包含挪威西姆拉研究实验室（Simula Research Laboratory）一处沙发角落的影像照片与连续激光雷达（LIDAR）扫描数据，该数据由Velodyne VLP-16型激光雷达采集，专为挪威研究理事会资助的BUISAR项目（项目编号：270951）制作。依托LADIO项目的支持，研究人员使用Meshroom（http://github.com/alicevision/meshroom）完成了该沙发角落的三维重建工作。本次激光雷达扫描数据以网络跟踪文件（.pcap）的形式存储，可通过点云库（Point Cloud Library, PCL，https://github.com/PointCloudLibrary/pcl）读取并解析为点云数据。由于Velodyne VLP-16未配备运动传感器，该激光雷达扫描数据的使用者可选择将其视为一系列帧进行处理，或尝试将记录的体素对齐至全局空间中，本数据集未提供该对齐步骤的真实参考值（ground truth）。