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Journal Articles Journal of Computing in Civil Engineering Year : 2023

ConSLAM: Construction Data Set for SLAM

Maciej Trzeciak
Kacper Pluta
Yasmin Fathy
Lucio Alcalde
  • Function : Author
Stanley Chee
  • Function : Author
Antony Bromley
  • Function : Author
Ioannis Brilakis
Pierre Alliez


This paper presents a dataset collected periodically on a construction site. The dataset aims to evaluate the performance of SLAM algorithms used by mobile scanners or autonomous robots. It includes ground-truth scans of a construction site collected using a terrestrial laser scanner along with five sequences of spatially registered and time-synchronized images, LiDAR scans and inertial data coming from our prototypical hand-held scanner. We also recover the ground-truth trajectory of the mobile scanner by registering the sequential LiDAR scans to the ground-truth scans and show how to use a popular software package to measure the accuracy of SLAM algorithms against our trajectory automatically. To the best of our knowledge, this is the first publicly accessible dataset consisting of periodically collected sequential data on a construction site.
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Dates and versions

hal-04039392 , version 1 (21-03-2023)





Maciej Trzeciak, Kacper Pluta, Yasmin Fathy, Lucio Alcalde, Stanley Chee, et al.. ConSLAM: Construction Data Set for SLAM. Journal of Computing in Civil Engineering, 2023, 37 (3), ⟨10.1061/JCCEE5.CPENG-5212⟩. ⟨hal-04039392⟩
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