This dataset comprehends the 3D building information model (in IFC and Revit formats), manually elaborated based on the terrestrial laser scanner of the sequence 2 of ConSLAM, and the refined ground truth (GT) poses (in TUM format) of sessions 2, 3, 4, and 5 of the open-access ConSLAM dataset (which provides camera, LiDAR, and IMU measurements).

This dataset enables the evaluation of pose estimation algorithms, such as localization, odometry, SLAM, and Bundle adjustment. Given the differences between the real-world and the 3D reference BIM model (Scan-Map deviations), the dataset is appropriate for evaluating long-term localization and mapping capabilities, i.e., methods that are robust to changes in the environment. In particular, in a real-world construction environment with normal clutter (not as in the Hilti dataset).