Multi-Camera LiDAR Inertial Extension to the Newer College Dataset

In this paper, we present a multi-camera LiDAR inertial dataset of 4.5km walking distance as an expansion to the Newer College Dataset. The global shutter multi-camera device is hardware synchronized with the IMU and the LiDAR. This dataset also provides six Degrees of Freedom (DoF) ground truth poses, at the LiDAR frequency of 10hz. Three data collections are described and example usage of multi-camera visual-inertial odometry is demonstrated. This expansion dataset contains small and narrow passages, large scale open spaces as well as vegetated areas to test localization and mapping systems. Furthermore, some sequences present challenging situations such as abrupt lighting change, textureless surfaces, and aggressive motion. The dataset is available at: https://ori-drs.github.io/newer-college-dataset