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DISCOMAN: Dataset of Indoor SCenes for Odometry, Mapping And Navigation [article]

Pavel Kirsanov, Airat Gaskarov, Filipp Konokhov, Konstantin Sofiiuk, Anna Vorontsova, Igor Slinko, Dmitry Zhukov, Sergey Bykov, Olga Barinova, Anton Konushin
2019 arXiv   pre-print
Our dataset serves a wider range of purposes compared to existing datasets and is the first large-scale benchmark focused on the mapping component of SLAM.  ...  We present a novel dataset for training and benchmarking semantic SLAM methods. The dataset consists of 200 long sequences, each one containing 3000-5000 data frames.  ...  In this work we present a new synthetic dataset called DISCOMAN (Dataset of Indoor SCenes for Odometry, Mapping And Navigation).  ... 
arXiv:1909.12146v1 fatcat:km47mayrofgftcfi6ybxejzffu

Walk2Map: Extracting Floor Plans from Indoor Walk Trajectories

Claudio Mura, R Pajarola, Konrad Schindler, Mitra Niloy
2021
mapping of real-world indoor spaces.  ...  Thanks to recent advances in data-driven inertial odometry, such minimalistic input data can be acquired from the IMU readings of consumer-level smartphones, which allows for an effortless and scalable  ...  We also acknowledge the support of the EU MSCA-ITN project EVOCATION (grant agreement 813170).  ... 
doi:10.5167/uzh-214713 fatcat:ykcild5uozaxpautq625766s6y