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Datasets:
ori-drs
/
oxford_spires_dataset

Tasks:
Robotics
Image-to-3D
ArXiv:
Tags:
slam
lidar
3d-reconstruction
nerf
3d-gaussian-splatting
localization
License:
Dataset card Files
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The dataset viewer is not available for this split.
Cannot load the dataset split (in streaming mode) to extract the first rows.
Error code:   StreamingRowsError
Exception:    ValueError
Message:      Invalid string class label training_data
Traceback:    Traceback (most recent call last):
                File "/src/services/worker/src/worker/utils.py", line 99, in get_rows_or_raise
                  return get_rows(
                         ^^^^^^^^^
                File "/src/libs/libcommon/src/libcommon/utils.py", line 272, in decorator
                  return func(*args, **kwargs)
                         ^^^^^^^^^^^^^^^^^^^^^
                File "/src/services/worker/src/worker/utils.py", line 77, in get_rows
                  rows_plus_one = list(itertools.islice(ds, rows_max_number + 1))
                                  ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 2690, in __iter__
                  for key, example in ex_iterable:
                                      ^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 2240, in __iter__
                  example = _apply_feature_types_on_example(
                            ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 2157, in _apply_feature_types_on_example
                  encoded_example = features.encode_example(example)
                                    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/features/features.py", line 2152, in encode_example
                  return encode_nested_example(self, example)
                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/features/features.py", line 1437, in encode_nested_example
                  {k: encode_nested_example(schema[k], obj.get(k), level=level + 1) for k in schema}
                      ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/features/features.py", line 1460, in encode_nested_example
                  return schema.encode_example(obj) if obj is not None else None
                         ^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/features/features.py", line 1143, in encode_example
                  example_data = self.str2int(example_data)
                                 ^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/features/features.py", line 1080, in str2int
                  output = [self._strval2int(value) for value in values]
                            ^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/features/features.py", line 1101, in _strval2int
                  raise ValueError(f"Invalid string class label {value}")
              ValueError: Invalid string class label training_data

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We present the Oxford Spires 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 unit includes three global shutter colour cameras, an automotive 3D LiDAR scanner, and an inertial sensor — all precisely calibrated.

Sample Usage

Download the Dataset

You can download the dataset from Hugging Face using the provided script. You can specify which folders to download by changing the example_pattern. Core sequences are also defined in the script.

python scripts/dataset_download.py

Install Python Tools

Install oxspires_tools to access Python utilities for using the dataset:

pip install .

To enable C++/Python bindings (requires PCL and Octomap):

BUILD_CPP=1 pip install .

Alternatively, use the provided Docker container:

docker compose -f .docker/oxspires/docker-compose.yml run --build oxspires_utils

Generate Depth Images

The following script downloads synchronised images and LiDAR data from a sequence on Hugging Face and generates depth images, LiDAR overlaid on camera images, and surface normal images:

python scripts/generate_depth.py

Citation

If you use The Oxford Spires Dataset in your research, please cite the following paper:

@article{tao2025spires,
title={The Oxford Spires Dataset: Benchmarking Large-Scale LiDAR-Visual Localisation, Reconstruction and Radiance Field Methods},
author={Tao, Yifu and Mu{\~n}oz-Ba{\~n}{\'o}n, Miguel {\'A}ngel and Zhang, Lintong and Wang, Jiahao and Fu, Lanke Frank Tarimo and Fallon, Maurice},
journal={International Journal of Robotics Research}, 
year={2025},
}
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