PolyU-BPCoMa: A dataset and benchmark towards mobile colorized mapping using a backpack multisensorial system

• DOI: 10.1016/j.jag.2022.102962
• Publication Date: 2022-08-16T21:48:49Z
• Authors: Wenzhong Shi; Pengxin Chen; Muyang Wang; Sheng Bao; Haodong Xiang; Yue Yu; Daping Yang
• Keywords: Benchmark (surveying); Backpack; Ground truth; Laser Scanning; Mobile mapping

Constructing colorized point clouds from mobile laser scanning and images is a fundamental work in surveying mapping. It also an essential prerequisite for building digital twins smart cities. However, existing public datasets are either relatively small scales or lack accurate geometrical color ground truth. This paper documents multisensorial dataset named PolyU-BPCoMA which distinctively positioned towards The incorporates resources of 3D LiDAR, spherical imaging, GNSS IMU on backpack platform. Color checker boards pasted each surveyed area as targets truth data collected by advanced terrestrial scanner (TLS). information can be recovered the produced system TLS, respectively. Accordingly, we provide opportunity to benchmark mapping colorization accuracy simultaneously system. approximately 800 GB size covering both indoor outdoor environments. development kits available at https://github.com/chenpengxin/PolyU-BPCoMa.git.