Niantic Map-free Relocalization Dataset
Niantic Map Free Relocalization Dataset License Agreement
Please cite our paper if you use any part of this dataset.
A small sample of one scene from each of training/validation/test subsets. (0.5GB)
460 scenes, each with two full scans, including camera poses. (110GB)
65 scenes, each with one single reference image and one full query scan, including camera poses. (8GB)
130 scenes, each with one single reference image, and one full query scan. No camera poses are provided. Please use our evaluation service to learn your test results. (15GB)
COLMAP models for the 460 training scenes. (30 GB)