Dynamic Scenes Dataset

The "Dynamic Scenes" Dataset is provided for testing visual loop closure detection algorithms in highly dynamic scenes. It has a strong background in some crucial applications such as autonomous driving systems.

The dataset was captured in the central commercial district of a city of ten million people. The “Dynamic Scenes” dataset contains two sequences as shown in the figure above. The first one, which was acquired by traveling around a lake as the blue trajectory, named “Road Ring.” The other sequence, named “CBD,” was acquired by traveling around a business district, and is depicted by the red and green trajectories.