List of Datasets

Handheld, UGV

Hilti SLAM Challenge

Multi-sensor SLAM in construction and building environments

Original 2021 twelve-sequence camera, dual-lidar and IMU collection with sparse total-station position and lab/arena motion-capture references.

Metadata: Complete Metadata curator reviewed Released 2021

Primary places to inspect, download, read about, or reproduce the dataset.

Supplementary

Not reported

Quick facts

Vehicle type
Handheld, UGV
Environment
Indoor, Outdoor
Data origin
Real-world
Sensor count
10
Ground truth
Available
Calibration
Parameters Only
Annotations
Not reported

Sensor overview

High-level sensor availability before the detailed sensor records below.

Cameras

5 reported

IMUs

3 reported

GNSS

Not reported

LiDAR

2 reported

Radar

Not reported

Magnetometers

Not reported

Barometers

Not reported

UWB

Not reported

Ground truth

Reference scope, method, rate, coverage, and provenance.

Scope Method Reference system Count Rate Coverage Reference provenance
External
Measured using equipment independent of the platform’s normal onboard sensor pipeline.
Derived
Computed primarily from the dataset’s own recorded sensors.
Hybrid
Combines independent reference equipment with onboard measurements.
3D position Total station Hilti total station · PLT 300 Not reported Not reported Partial · Stationary Total-Station Samples in Ten Recordings Outside the Two Motion-Capture Areas; Current Release Links Their 3DoF Truth Files. Reference provenance
External
Measured using equipment independent of the platform’s normal onboard sensor pipeline.
Derived
Computed primarily from the dataset’s own recorded sensors.
Hybrid
Combines independent reference equipment with onboard measurements.
External
Accuracy notes
3 mm is static prism range accuracy, not a continuous moving-body XYZ error bound.
Reference notes
Tracks the prism at stationary stops. The current 2021 page links 3DoF truth files and specifies reference frames in filenames; body-to-prism transformation is required.
6DoF Motion capture Optical motion capture Not reported 200 Hz Partial · Lab and RPG Drone Testing Arena; Current Release Links Their 6DoF Truth Files. Reference provenance
External
Measured using equipment independent of the platform’s normal onboard sensor pipeline.
Derived
Computed primarily from the dataset’s own recorded sensors.
Hybrid
Combines independent reference equipment with onboard measurements.
External
Accuracy notes
Paper claims position accuracy below 1 mm; orientation accuracy unreported.
Reference notes
The current 2021 release identifies Optitrack 6DoF truth for Lab and RPG Drone Testing Arena. Other recordings provide sparse 3DoF total-station truth.

Calibration and synchronization

Reported calibration level, reproducibility signals, and supporting notes.

Level
Parameters Only
Processed parameters
Available
Raw calibration data
Not reported
Calibration targets
Not reported

Parameters only

Processed calibration parameters are reported, but raw calibration data is not reported.

Notes

Manufacturer sensor intrinsics, camera checkerboard calibration, CAD extrinsics and refined camera/IMU calibration; parameters/CAD/noise files released.

Known or intentional limitations

Reported constraints and characteristics to check before using the dataset.

Total-station truth is sparse and position-only.

Motion-capture/logger clock difference is 1–3 ms.

Frames can drop under controller load.

Historical challenge references were partly withheld; the current 2021 page links truth files for all twelve recordings. Total-station coverage remains sparse, rather than continuous six-DoF truth.

Reference coordinates may be in the prism frame; use the supplied sensor transforms before comparing a body-frame trajectory.

This entry describes the 2021 collection, excluding later Hilti/Trimble challenge datasets.

Cameras

Camera 1

Model
Sevensense AlphaSense
Setup
Multi Camera
Count
5
Effective cameras
5
Modality
Not Reported
Resolution
Not reported
Rate
10 Hz
Shutter
Global
Lens type
Not Reported
HFOV
Not reported
VFOV
Not reported
Notes
Five physical image channels include one stereo pair; represented once as a five-camera array. Approximately 1.3 MP per camera; exact pixel dimensions and color modality are unestablished.

IMUs

Analog Devices ADIS16445

Model
Analog Devices ADIS16445
Count
1
Accel / gyro
800 / 800 Hz

Bosch BMI085

Model
Bosch BMI085
Count
1
Accel / gyro
200 / 200 Hz

InvenSense ICM-20948

Model
InvenSense ICM-20948
Count
1
Accel / gyro
100 / 100 Hz

GNSS

Not reported

LiDAR

Ouster OS0-64

Model or name
Ouster OS0-64
Count
1
Dimensions
3
Rate
10 Hz
Channels
64
Range
50 m

Livox MID70

Model or name
Livox MID70
Count
1
Dimensions
3
Rate
Not reported
Channels
Not reported
Range
200 m

Radar

Not reported

Additional sensors

Not reported

Annotations

Reported annotation availability and task support.

Availability
Not reported
Format
Not reported
Class count
Not reported
Semantic segmentation Not reported
Instance segmentation Not reported
Object detection Not reported
Optical flow Not reported
Depth ground truth Not reported

Citation

Citation key and BibTeX kept at the end of the page for reference.

Citation key
helmberger2022hilti

BibTeX

@misc{helmberger2022hilti,
  title = {The Hilti SLAM Challenge Dataset},
  author = {Michael Helmberger and Kristian Morin and Beda Berner and Nitish Kumar and Giovanni Cioffi and Davide Scaramuzza},
  year = {2022},
  eprint = {2109.11316v3},
  archivePrefix = {arXiv}
}

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