Abstract
This paper presents a RGBD slam construction dataset with a mounted platform, designed to collect the
unique challenges encountered in construction sites. An Ouster OS0-128 LiDAR is utilized as the sensor of
LiDAR SLAM, working as the ground truth for localization. Our dataset records various construction settings
with different stages of building materials and structures, such as concrete, brick, plaster, and putty, providing a
comprehensive benchmark for training and evaluating SLAM algorithms. Through testing on current SLAM
algorithms, we demonstrate the limitations of traditional approaches in these environments and provide a VINS
based algorithm as the benchmark. This dataset serves as a valuable resource for researchers aiming to enhance
SLAM performance in the real construction environments. The detailed information of the dataset is available at
https://github.com/WenyuLWY/HCIC-Construction-VSLAM-Dataset.git
unique challenges encountered in construction sites. An Ouster OS0-128 LiDAR is utilized as the sensor of
LiDAR SLAM, working as the ground truth for localization. Our dataset records various construction settings
with different stages of building materials and structures, such as concrete, brick, plaster, and putty, providing a
comprehensive benchmark for training and evaluating SLAM algorithms. Through testing on current SLAM
algorithms, we demonstrate the limitations of traditional approaches in these environments and provide a VINS
based algorithm as the benchmark. This dataset serves as a valuable resource for researchers aiming to enhance
SLAM performance in the real construction environments. The detailed information of the dataset is available at
https://github.com/WenyuLWY/HCIC-Construction-VSLAM-Dataset.git
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the 6th International Conference on Civil and Building Engineering Infomatics |
| Publisher | Hong Kong University of Science and Technology |
| Pages | 289-296 |
| Number of pages | 8 |
| Publication status | Accepted/In press - 2025 |
| Event | The 6th International Conference on Civil and Building Engineering Informatics (ICCBEI 2025) - , Hong Kong Duration: 8 Jan 2025 → 11 Jan 2025 |
Conference
| Conference | The 6th International Conference on Civil and Building Engineering Informatics (ICCBEI 2025) |
|---|---|
| Country/Territory | Hong Kong |
| Period | 8/01/25 → 11/01/25 |
Keywords
- Visual SLAM
- Construction Robot
- Dataset