The Oxford Spires Dataset: Benchmarking Large-Scale LiDAR-Visual Localisation, Reconstruction and Radiance Field Methods

Yifu Tao, Miguel Ángel Muñoz-Bañón, Lintong Zhang +3

This paper introduces a large-scale multi-modal dataset captured in and around well-known landmarks in Oxford using a custom-built multi-sensor perception unit as well as a millime…