Hilti-Trimble-Oxford 360 Visual-Inertial Dataset 2026

30段跨七层、八个月真实活跃建造现场的360视觉惯性序列，含双鱼眼30Hz、IMU 1000Hz、真值、标定及PNG/DXF楼层图；官方挑战62队提交。数据和工具可取，但CC BY-NC-SA 3.0禁止商业使用。

开放状态: 已核验开放
许可证: CC BY-NC-SA 3.0
商业使用: not permitted
人工评审结论: verified_public_download_noncommercial_30_sequences
机器人: wearable Insta360 visual-inertial rig、LiDAR ground-truth rig
任务: visual-inertial SLAM、floor-plan localization、long-term construction-site mapping
模态: dual fisheye RGB、IMU、camera calibration、LiDAR-derived ground truth、PNG floor plans、DXF floor plans
格式: ROS2 bag、TUM trajectory、YAML calibration、PNG、DXF
采集/生成方式: real active-construction capture with visual-inertial rig and separate LiDAR ground-truth system
已知问题: noncommercial share-alike license; full bags not downloaded in this audit; raw LiDAR not included as ordinary modality; DXF plans explicitly unregistered.