Scenes & Sequences

Indoor Scenes

Exhibition Hall: MU-Hall

Long Corridor: MU-Cor

Glass Building: MU-TXN

Office Layout: MU-CPS

Scene characteristics

MU-Hall

MU-Hall is a mid-large exhibition hall. The first sequence (MU-Hall-seq-01) was recorded during an exhibition with many dynamic and static features (i.e., moving people, and several pieces of exhibition furniture).

Feature density maps (seq-01)

Trajectory maps (seq-01)

MU-Cor

MU-Cor is a high symmetric passageway of approximately 6 x 120 meters with several tables, artificial and natural lighting conditions.

MU-TXN

MU-TXN is the student study centre at the Montanuniversität characterised by large transparent and reflecting surfaces, and moving objects, which depict a mixed static and dynamic environment.

MU-CPS

MU-CPS depicts a typical office layout with multiple occlusions, several pieces of furniture, different lighting conditions (i.e., natural daylight and artificial lights), and numerous loop closures.

Outdoor Scenes

Leoben Campus Street: Leo-Str

Leoben Forest Path: Leo-For

Scene characteristics

Leo-Str

Leo-Str is an open street in Leoben, Austria, characterised by sparse features, pedestrians, vehicles, and several buildings. These ranges of environmental complexities are often not constant and pose substantial challenges to perception and SLAM systems used in inspection, monitoring and surveillance in such environments.

Feature density maps (seq-01)

Trajectory maps (seq-01)

Leo-For

Leo-For is a typical-vegetated area with unstructured terrain (i.e., sloppy, elevated), dense canopies, varied light penetrations, and dynamic shadow formations caused by the swaying of leaves and branches. These features present distinct challenges to robotic perception and spatial awareness.

Subterranean Scenes

Due to confidentiality and security concerns regarding the underground tunnels, the feature density maps, trajectory maps, SLAM-reconstructed maps, and the ROS bag data will be provided upon request. However, the annotated RGB data from the subterranean scenes is publicly accessible.

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