Cambridge Landmarks, a large scale outdoor visual relocalisation dataset taken around Cambridge University. Contains original video, with extracted image frames labelled with their 6-DOF camera pose and a visual reconstruction of the scene. If you use this data, please cite our paper: Alex Kendall, Matthew Grimes and Roberto Cipolla "PoseNet: A Convolutional Network for Real-Time 6-DOF Camera Relocalization." Proceedings of the International Conference on Computer Vision (ICCV), 2015.
Links to individual scenes (see: https://github.com/GrumpyZhou/visloc-apr/issues/3):
Old Hospital: https://www.repository.cam.ac.uk/handle/1810/251340
Kings College: https://www.repository.cam.ac.uk/handle/1810/251342
St. Marys Church: https://www.repository.cam.ac.uk/handle/1810/251294
Great Court: https://www.repository.cam.ac.uk/handle/1810/251291
Shop Facade: https://www.repository.cam.ac.uk/handle/1810/251336