Due to requests at #ECCV2022 and to make our #MapFreeReloc dataset useful for more tasks, we make the SfM reconstructions of our train set publicly available.

🔥460 SfM models of outdoor scenes all around the world 🔥
https://research.nianticlabs.com/mapfree-reloc-benchmark/dataset

Want to train 460 NeRFs? Go ahead.

Each scene was captured by non-expert users with two independent scans, sometimes months apart. We reconstructed them with COLMAP and aligned them to the original phone trajectories.

Thus, all models are in metric scale.