LoopDB provides more than 1,000 images from over 200 scenes as five-image multi-angle sequences with pose metadata, but the ground truth is visually aligned and the validation experiments are inconsistent and do not test loop closure detection.
Semantic object classes in video: A high-definition ground truth database,
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LoopDB: A Loop Closure Dataset for Large Scale Simultaneous Localization and Mapping
LoopDB provides more than 1,000 images from over 200 scenes as five-image multi-angle sequences with pose metadata, but the ground truth is visually aligned and the validation experiments are inconsistent and do not test loop closure detection.