Handheld
SLABIM
SLAM–BIM registration; localization; semantic mapping
Handheld indoor sensing and mapped trajectories paired with HKUST building information models.
Access links
Primary places to inspect, download, read about, or reproduce the dataset.
Quick facts
- Vehicle type
- Handheld
- Environment
- Indoor
- Data origin
- Real-world
- Sensor count
- 5
- Ground truth
- Available
- Calibration
- Parameters Only
- Annotations
- Available
Sensor overview
High-level sensor availability before the detailed sensor records below.
Ground truth
Reference scope, method, rate, coverage, and provenance.
| Scope | Method | Reference system | Count | Rate | Coverage |
Reference provenance
|
|---|---|---|---|---|---|---|
| 6DoF | LiDAR SLAM | Offline mapping and BIM alignment | Not reported | Not reported | Unknown |
Reference provenance
Hybrid
|
|
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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
Raw sessions not established.
Known or intentional limitations
Reported constraints and characteristics to check before using the dataset.
Twelve sessions cover selected regions on four floors. The building-wide BIM area is not the scanned trajectory footprint.
Semantic labels describe BIM elements, not a verified frame-wise image segmentation release. Reference trajectories reuse sensing, conditional RTK and BIM registration.
The reported 200 Hz IMU output does not establish native component sampling. Continuous indoor GNSS, raw calibration sessions and achieved reference errors remain unknown.
Cameras
Camera 1
- Model
- Not reported
- Setup
- Fisheye
- Count
- 2
- Effective cameras
- 2
- Modality
- Other
- Resolution
- 3040 x 4032
- Rate
- Not reported
- Shutter
- Not Reported
- Lens type
- Not Reported
- HFOV
- Not reported
- VFOV
- Not reported
- Notes
- Two fisheye systems; image cadence not specified, sparse published image counts must not be converted into native camera rate.
IMUs
ICM40609
- Model
- ICM40609
- Count
- 1
- Accel / gyro
- Not reported
GNSS
Unicore UM980
- Model or name
- Unicore UM980
- Count
- 1
- Rate
- 10 Hz
- GNSS type
- RTK
- Position output
- Available
- Velocity output
- Not reported
- Heading output
- Not reported
LiDAR
Livox Mid-360
- Model or name
- Livox Mid-360
- Count
- 1
- Dimensions
- 3
- Rate
- 10 Hz
- Channels
- Not reported
- Range
- Not reported
Radar
Not reported
Additional sensors
Not reported
Annotations
Reported annotation availability and task support.
- Availability
- Available
- Format
- BIM-level wall/floor/door/column labels; do not assume frame-wise human semantic annotations.
- Class count
- Not reported
Semantic segmentation
Available
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.
@misc{huang2025slabim,
author = {Haoming Huang and Zhijian Qiao and Zehuan Yu and Chuhao Liu and Shaojie Shen and Fumin Zhang and Huan Yin},
title = {SLABIM: A SLAM-BIM Coupled Dataset in HKUST Main Building},
year = {2025},
url = {https://arxiv.org/abs/2502.16856v1}
}Dataset corrections
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