{"url":"/dataset/slam2ref","name":"SLAM2REF","full_name":"ConSLAM BIM and GT Poses","description_markdown":"This dataset comprehends the 3D building information model (in IFC and Revit formats), \r\nmanually elaborated based on the terrestrial laser scanner of the sequence 2 of ConSLAM, \r\nand the refined ground truth (GT) poses (in TUM format) of sessions 2, 3, 4, and 5 of the open-access ConSLAM dataset (which provides camera, LiDAR, and IMU measurements).\r\n\r\nThis dataset enables the evaluation of pose estimation algorithms, such as localization, odometry, SLAM, and Bundle adjustment.\r\nGiven the differences between the real-world and the 3D reference BIM model (Scan-Map deviations), the dataset is appropriate for evaluating long-term localization and mapping capabilities, i.e., methods that are robust to changes in the environment. In particular, in a real-world construction environment with normal clutter (not as in the Hilti dataset).","description_withheld":null,"homepage":"https://mediatum.ub.tum.de/1459256?show_id=1743877","introduced_date":"2024-03-15","introduced_date_note":null,"introduced_by":{"paper":"/paper/bim-slam-integrating-bim-models-in-multi","title":"BIM-SLAM: Integrating BIM Models in Multi-session SLAM for Lifelong Mapping using 3D LiDAR","first_author":null,"url":null},"license":{"name":"CC BY-NC","url":"https://creativecommons.org/licenses/by-nc/4.0/"},"modalities":[{"name":"3D","url":"/datasets/modality/3d"},{"name":"Cad","url":"/datasets/modality/cad"},{"name":"6D","url":"/datasets/modality/6d"},{"name":"Tracking","url":"/datasets/modality/tracking"}],"tasks":[{"name":"Pose Estimation","url":"/task/pose-estimation","datasets_with_task":"/datasets/task/pose-estimation"},{"name":"Pose Tracking","url":"/task/pose-tracking","datasets_with_task":"/datasets/task/pose-tracking"},{"name":"Camera Localization","url":"/task/camera-localization","datasets_with_task":"/datasets/task/camera-localization"},{"name":"2D Pose Estimation","url":"/task/2d-pose-estimation","datasets_with_task":"/datasets/task/2d-pose-estimation"},{"name":"Visual Odometry","url":"/task/visual-odometry","datasets_with_task":"/datasets/task/visual-odometry"},{"name":"6D Pose Estimation","url":"/task/6d-pose-estimation-1","datasets_with_task":"/datasets/task/6d-pose-estimation-1"},{"name":"6D Pose Estimation using RGBD","url":"/task/6d-pose-estimation-using-rgbd","datasets_with_task":"/datasets/task/6d-pose-estimation-using-rgbd"},{"name":"lidar absolute pose regression","url":"/task/lidar-absolute-pose-regression","datasets_with_task":"/datasets/task/lidar-absolute-pose-regression"},{"name":"3D Pose Estimation","url":"/task/3d-pose-estimation","datasets_with_task":"/datasets/task/3d-pose-estimation"},{"name":"Camera Relocalization","url":"/task/camera-relocalization","datasets_with_task":"/datasets/task/camera-relocalization"},{"name":"Indoor Localization","url":"/task/indoor-localization","datasets_with_task":"/datasets/task/indoor-localization"},{"name":"Simultaneous Localization and Mapping","url":"/task/simultaneous-localization-and-mapping","datasets_with_task":"/datasets/task/simultaneous-localization-and-mapping"},{"name":"Pose Retrieval","url":"/task/pose-retrieval","datasets_with_task":"/datasets/task/pose-retrieval"},{"name":"Semantic SLAM","url":"/task/semantic-slam","datasets_with_task":"/datasets/task/semantic-slam"},{"name":"Camera Pose Estimation","url":"/task/camera-pose-estimation","datasets_with_task":"/datasets/task/camera-pose-estimation"},{"name":"Robot Pose Estimation","url":"/task/robot-pose-estimation","datasets_with_task":"/datasets/task/robot-pose-estimation"},{"name":"Monocular Visual Odometry","url":"/task/monocular-visual-odometry","datasets_with_task":"/datasets/task/monocular-visual-odometry"},{"name":"Object SLAM","url":"/task/object-slam","datasets_with_task":"/datasets/task/object-slam"}],"languages":[{"name":"English","url":"/datasets/language/english"}],"variants":["SLAM2REF"],"data_loaders":[],"num_papers_in_archive":2,"source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28"},"benchmarks":[],"papers_with_a_benchmark_row":[],"syntology_totals":{"read_at":"2026-09-24T18:15:14+00:00","papers_with_samples":0,"samples_harvested":0,"samples_ran":0,"samples_unverified":0,"pointer_only_for_licence":0,"papers_with_no_sample_that_ran":0,"note":"the per-paper counts above, summed; not a rate"},"papers_note":"The archive never published its papers-using-dataset list; these are papers with a leaderboard row on this dataset's benchmarks."}