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license: cc-by-nc-sa-4.0
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license: cc-by-nc-sa-4.0
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We present the Oxford Spires Dataset, captured in and around well-known landmarks in Oxford using a custom-built multi-sensor perception unit as well as a millimetre-accurate map from a terrestrial LiDAR scanner (TLS). The perception unit includes three global shutter colour cameras, an automotive 3D LiDAR scanner, and an inertial sensor — all precisely calibrated.
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- [project page](https://dynamic.robots.ox.ac.uk/datasets/oxford-spires/)
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- [Arxiv](https://arxiv.org/abs/2411.10546)
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- [video](https://youtu.be/AKZ-YrOob_4?si=rY94Gn96V2zfQBNH)
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- [code](https://github.com/ori-drs/oxford_spires_dataset)
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