{"id":"https://openalex.org/W7167690907","doi":"https://doi.org/10.48550/arxiv.2607.06464","title":"Hilti-Trimble-Oxford Dataset: 360 Visual-Inertial Benchmark with Floor Plan Priors for SLAM and Localization","display_name":"Hilti-Trimble-Oxford Dataset: 360 Visual-Inertial Benchmark with Floor Plan Priors for SLAM and Localization","publication_year":2026,"publication_date":"2026-07-07","ids":{"openalex":"https://openalex.org/W7167690907","doi":"https://doi.org/10.48550/arxiv.2607.06464"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2607.06464","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.06464","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2607.06464","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5140267499","display_name":"Samuele Centanni","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Centanni, Samuele","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140277848","display_name":"Yuhao Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Yuhao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140250393","display_name":"Yifu Tao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tao, Yifu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5095747960","display_name":"Julien Kindle","orcid":"https://orcid.org/0000-0001-9979-3984"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kindle, Julien","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016141438","display_name":"Frank Neuhaus","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Neuhaus, Frank","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035639965","display_name":"Tilman Ko\u00df","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ko\u00df, Tilman","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084975635","display_name":"Aryaman Patel","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Patel, Aryaman","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059225539","display_name":"Michael Helmberger","orcid":"https://orcid.org/0000-0001-9173-0508"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Helmberger, Michael","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051579907","display_name":"Emilia Szyma\u0144ska","orcid":"https://orcid.org/0000-0003-0355-8598"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Szyma\u0144ska, Emilia","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068784260","display_name":"Torben Gr\u00e4ber","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gr\u00e4ber, Torben","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5140260344","display_name":"Maurice Fallon","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fallon, Maurice","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.31369999051094055,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.31369999051094055,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.19979999959468842,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11006","display_name":"BIM and Construction Integration","score":0.17190000414848328,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7864999771118164},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.7129999995231628},{"id":"https://openalex.org/keywords/floor-plan","display_name":"Floor plan","score":0.6079000234603882},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.5383999943733215},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.48750001192092896},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.42980000376701355},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.4253000020980835},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.42250001430511475},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.41620001196861267}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7864999771118164},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.7129999995231628},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6186000108718872},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6097999811172485},{"id":"https://openalex.org/C61056293","wikidata":"https://www.wikidata.org/wiki/Q18965","display_name":"Floor plan","level":2,"score":0.6079000234603882},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5835999846458435},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.5383999943733215},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.48750001192092896},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.42980000376701355},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.4253000020980835},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.42250001430511475},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.41620001196861267},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.39719998836517334},{"id":"https://openalex.org/C177769412","wikidata":"https://www.wikidata.org/wiki/Q278090","display_name":"Prior probability","level":3,"score":0.3919000029563904},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.37310001254081726},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.3677000105381012},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.3612000048160553},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.34439998865127563},{"id":"https://openalex.org/C2780297707","wikidata":"https://www.wikidata.org/wiki/Q4895393","display_name":"Landmark","level":2,"score":0.3188000023365021},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2996000051498413},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.2994000017642975},{"id":"https://openalex.org/C2779530757","wikidata":"https://www.wikidata.org/wiki/Q1207505","display_name":"Quality (philosophy)","level":2,"score":0.2874999940395355},{"id":"https://openalex.org/C203595873","wikidata":"https://www.wikidata.org/wiki/Q25389927","display_name":"Change detection","level":2,"score":0.2827000021934509},{"id":"https://openalex.org/C2780009758","wikidata":"https://www.wikidata.org/wiki/Q6804172","display_name":"Measure (data warehouse)","level":2,"score":0.2791999876499176},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.27619999647140503},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.263700008392334},{"id":"https://openalex.org/C168820333","wikidata":"https://www.wikidata.org/wiki/Q448889","display_name":"Visual inspection","level":2,"score":0.26249998807907104},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.2572999894618988}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2607.06464","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.06464","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2607.06464","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.06464","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","score":0.6519484519958496,"id":"https://metadata.un.org/sdg/9"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Automated":[0],"progress":[1,70],"monitoring":[2],"on":[3],"construction":[4,99,133,212],"sites":[5],"is":[6,224],"an":[7,97,128,159],"active":[8,98],"area":[9],"of":[10,26,40,50,131,158,196,208],"research":[11,161],"and":[12,15,28,69,77,80,114,168,213,230],"development.":[13],"Robot":[14],"human-carried":[16],"mapping":[17,33],"systems":[18,34,84,170],"have":[19],"been":[20],"developed":[21],"to":[22,149,187,215,226],"build":[23],"3D":[24],"maps":[25],"building":[27],"infrastructure":[29],"projects.":[30],"While":[31],"LiDAR-based":[32],"achieve":[35],"high":[36,142],"accuracy,":[37],"the":[38,132,150,156,164,173,193,206,216,231],"cost":[39],"LiDAR":[41],"can":[42],"be":[43],"prohibitive.":[44],"Consumer-grade":[45],"cameras":[46],"with":[47,55,183],"wide":[48],"field":[49],"view":[51],"(\"360":[52],"cameras\")":[53],"combined":[54],"embedded":[56],"inertial":[57],"measurement":[58],"units":[59],"(IMUs)":[60],"provide":[61],"a":[62,92,141],"cost-effective":[63],"alternative.":[64],"To":[65],"support":[66],"change":[67],"detection":[68],"monitoring,":[71],"highly":[72],"accurate":[73],"visual":[74,166],"Simultaneous":[75],"Localization":[76],"Mapping":[78],"(SLAM)":[79],"floor":[81],"plan-referenced":[82],"localization":[83,169,203],"are":[85,233],"required.":[86],"In":[87],"this":[88,209,222],"paper":[89],"we":[90,154],"present":[91],"high-quality":[93],"dataset":[94,118,223,229],"collected":[95,139],"at":[96],"site,":[100],"which":[101,221],"captures":[102],"realistic":[103],"challenges":[104],"such":[105],"as":[106],"variable":[107],"lighting":[108],"conditions,":[109],"moving":[110],"workers,":[111],"fast":[112],"motions,":[113],"repetitive":[115],"structures.":[116],"The":[117,175,199,228],"offers":[119],"thirty":[120],"visual-inertial":[121],"sequences":[122],"recorded":[123],"across":[124],"seven":[125],"floors":[126],"over":[127],"eight-month":[129],"period":[130],"project.":[134],"Ground":[135],"truth":[136],"trajectories":[137],"were":[138],"using":[140],"quality":[143],"LiDAR-inertial":[144],"SLAM":[145,167,197],"system":[146],"rigidly":[147],"attached":[148],"360":[151],"camera.":[152],"Additionally,":[153],"report":[155],"results":[157],"open":[160],"challenge":[162],"evaluating":[163],"best":[165],"from":[171],"around":[172],"world.":[174],"Challenge":[176],"attracted":[177],"substantially":[178],"higher":[179,200],"participation":[180],"in":[181,189,202,211],"SLAM,":[182],"62":[184],"teams":[185],"compared":[186],"22":[188],"floor-plan-referenced":[190],"localization,":[191],"reflecting":[192],"broader":[194],"maturity":[195],"methods.":[198],"errors":[201],"further":[204],"highlight":[205],"difficulty":[207],"task":[210],"point":[214],"need":[217],"for":[218],"continued":[219],"research,":[220],"intended":[225],"support.":[227],"benchmark":[232],"publicly":[234],"available":[235],"at:":[236],"https://hilti-trimble-challenge.com/dataset-2026.":[237]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-07-09T00:00:00"}
