Indoor low-cost sensor system data

Data used for a comparison of the Matterport Pro2 3D, Ricoh Theta V, and Leica BLK360 in two indoor settings using the Leica RTC360 as reference. The test sites are lecture hall 101 at the Aalto University Department of Machine Engineering in Espoo, Finland, and the Tetra Conference Hall at the Hanaholmen Swedish-Finnish Cultural Centre in Espoo, Finland.

The data are divided into four sets - one room geometry with the furniture removed and one detailed segment for both test sites - with four registered point clouds and three registered meshes being provided for each, as well as the reference. The point clouds stem from data obtained with each of the three sensor systems and processed with Matterport's processing system, with the Leica BLK360 data also being processed with Leica's proprietary processing system for a fourth point cloud. For the meshes, the Matterport processing system has been used to produce one mesh from each sensor system.