A new dataset has been assembled to compare the efficiency of simultaneous localization and mapping algorithms out of doors in areas with high a priori uncertainty. The images were made using a high-resolution stereo camera, with reference camera trajectories being used to calculate movement within the scene based on manually identified key points. The resulting dataset of images can be used to compare the robustness of simultaneous localization and mapping algorithms under complex lighting conditions outdoors. (c) 2021 Optical Society of America
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