Bell Labs robot garage for DANCE: Domain Adaptation of Networks for Camera Pose Estimation

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. Furthermore, the dataset includes ~30k real photos of the space recorded by an iPhone 6 together with camera poses captured by a WorldViz system.

[1] https://arxiv.org/abs/2111.14741