The Oxford Spires Dataset: Benchmarking large-scale LiDAR-visual localisation, reconstruction and radiance field methods

Yifu Tao, Miguel Ángel Muñoz-Bañón, Lintong Zhang, Jiahao Wang, Lanke Frank Tarimo Fu, Maurice Fallon, Oxford Robotics Institute, Department of Engineering Science, University of Oxford, Group of Automation, Robotics and Computer Vision , University of Alicante

The International Journal of Robotics Research

Published online on September 20, 2025

Abstract

The International Journal of Robotics Research, Volume 45, Issue 6, Page 839-857, May 2026.
This paper introduces a large-scale multi-modal dataset captured in and around well-known landmarks in Oxford using a custom-built multi-sensor perception unit as well as a millimetre-accurate map from a Terrestrial LiDAR Scanner (TLS). The perception ...