Groundtruth 3D Point Clouds

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The ground truth 3D point clouds are acquired simultaneously with the corresponding trajectories. We merge the 3D point clouds as a complete point cloud for each scene.

Groundtruth Trajectories

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The timestamped translation vector and unit quaternion of a ground truth trajectory from the camera coordinate to the world coordinate are formatted as:

timestamp[i] p_x p_y p_z q_x q_y q_z q_w

Similarly, trajectories are transformed into a unified world coordinate system.