Data for article: Neural Graph Mapping for Dense SLAM with Efficient Loop Closure

Data to reproduce experiments in "Neural Graph Mapping for Dense SLAM with Efficient Loop Closure". It contains: a preprocessed version of the Kintinuous data from here (kintinuous_data.zip) novel sequences on the larger Replica scenes (replica_big_data.zip) ORB-SLAM2 results on Kintinuous (kintinuous_slam.zip) Replica Big (replica_big_slam.zip) Replica iMAP (replica_slam.zip) NRGBD (nrgbd_slam.zip) ScanNet subset (scannet_subset_slam.zip) Additional views for evaluation purposes as proposed by Co-SLAM for Replica Big (replica_big_data.zip) Replica iMAP (replica_coslam_eval.zip, modified from here with additional views for staircase and kitchen scenes, which were missing in the original data) NRGBD (nrgbd_coslam_eval.zip, from here)本数据集用于复现《Neural Graph Mapping for Dense SLAM with Efficient Loop Closure》一文的实验。其包含以下内容： 1. 源自指定来源的Kintinuous数据集预处理版本（kintinuous_data.zip）； 2. 针对大规模Replica场景的新增序列数据（replica_big_data.zip）； 以及ORB-SLAM2在以下数据集上的实验结果： - Kintinuous（kintinuous_slam.zip） - 大规模Replica场景（replica_big_slam.zip） - Replica iMAP（replica_slam.zip） - NRGBD（nrgbd_slam.zip） - ScanNet子集（scannet_subset_slam.zip） 此外还包含由Co-SLAM提出的用于评估任务的额外视角数据集，具体如下： - 大规模Replica场景（replica_big_data.zip） - Replica iMAP（replica_coslam_eval.zip，修改自指定来源，补充了原始数据中缺失的楼梯与厨房场景的额外视角） - NRGBD（nrgbd_coslam_eval.zip，源自指定来源）