HILTI 2023 dataset ground-truth trajectory

[zhuxiaofan117]

Hi all,

I am trying to reproduce your execellent work on HILTI. Just a quick(and maybe irrelavant :D) question to ask: Where did you guys find the ground-true pose of HILTI 2023 datasets. I couldn't find any sources on the main page. While in your paper's Section VI-B you said "The ground-true lidar pose trajectory is captured by a total station or motion capture ssytem.".

Did you mean by using HILTI competitions evaluation tool? In that case, how did you guys optimize the poses of ground-true pose trajectory used for registering pointclouds, shown in Fig.10?

Thanks.

[Zale-Liu]

We use the HILTI 2021 datasets in our paper. The HILTI 2023 does not release their ground truth. You can upload your results on their website to get your scores.