This paper presents a large scale dataset from a meticulous 360-degree LiDAR (Light Detection and Ranging) scan conducted on Kronborg Castle, a renowned Renaissance fortress located in Elsinore (Helsing{\o}r), Denmark, famously associated with Shakespeare's "Hamlet." Utilising a vertical mounted, gimbal stabilised, 16 channel, 360-degree Velodyne VLP-16 LiDAR scanner, paired with an Intel RealSense L515 depth camera. This research offers an unparalleled digital representation of the castle's intricate architectural details and structural nuances, enabling fellow researchers to conduct experiments utilising the data for SLAM (Simultaneous Localisation and Mapping) as well as floorplan generation.

翻译：本文介绍了一个大规模数据集，该数据集源自对克伦堡城堡进行的一次精细360度激光雷达（光探测与测距）扫描。克伦堡是一座位于丹麦赫尔辛格（Helsingør）的著名文艺复兴时期堡垒，因莎士比亚的《哈姆雷特》而闻名遐迩。研究采用垂直安装、云台稳定的16通道360度Velodyne VLP-16激光雷达扫描仪，并搭配Intel RealSense L515深度相机。此项研究提供了该城堡复杂建筑细节与结构细微之处的无与伦比的数字化表征，使其他研究人员能够利用该数据进行SLAM（同步定位与建图）以及平面图生成的实验。