Tsinghua Xuetang dataset is based on the building truth data obtained by Riegl-LMS-Z420i laser scanner and the 3D reconstruction dataset of image data. The laser scanner has an accuracy of 10mm within 50 meters and a scanning angle of 0.0057°. It contains laser truth data, image data and camera projection matrix.

This dataset is provided by the Institute of Automation, Chinese Academy of Sciences, and is mainly used by researchers to conduct quantitative evaluation of relevant results.