point cloud; real photos; rendered images

This dataset is a supplement of the paper DANCE: Domain Adaptation of Networks for Camera Pose Estimation: Learning Camera Pose Estimation Without Pose Labels [1]. The dataset contains a sample scene of a robot garage. The scene was captured by a Leica BLK360 laser scanner, and 16 scans were merged into a single point cloud of 118M colored points. The dataset also contains ~100k synthetically rendered images and scene coordinates generated form the point cloud.