This article presents a challenging new dataset for indoor localization research. We have recorded the whole internal structure of Fengtai Wanda Plaza which is an area of over 15,800 m² with a Navvis M6 device. The dataset contains 679 RGB-D panoramas and 2,664 query images collected by three different smartphones. In addition to the data, an aligned 3D point cloud is produced after the elimination of moving objects based on the building floorplan. Furthermore, a method is provided to generate corresponding high-resolution depth images for each panorama. By fixing the smartphones on the device using a specially designed bracket, six-degree-of-freedom camera poses can be calculated precisely. We believe it can give a new benchmark for indoor visual localization and the full dataset can be downloaded from http://vision.ia.ac.cn/Faculty/wgao/data_code/data_indoor_localizaiton/data_indoor_localization.htm

本文为室内定位研究提供了一个具有挑战性的新数据集。我们记录了面积超过15,800 m ²的丰台万达广场的整个内部结构使用 Navvis M6 设备。该数据集包含由三款不同智能手机收集的 679 张 RGB-D 全景图和 2,664 张查询图像。除了数据之外，在根据建筑平面图消除移动物体后，还会生成对齐的 3D 点云。此外，提供了一种为每个全景图生成相应的高分辨率深度图像的方法。通过使用专门设计的支架将智能手机固定在设备上，可以精确计算六自由度的相机姿势。我们相信它可以为室内视觉定位提供一个新的基准，完整数据集可以从 http://vision.ia.ac.cn/Faculty/wgao/data_code/data_indoor_localizaiton/data_indoor_localization.htm 下载