Dataset Statistics

**Dataset Statistics.** We present a summary of the number of frames in the recorded videos, the NVS data variant (obtained by subsampling the video by 5×), and the visual relocalization data variant (with additional spatial subsampling and splitting into database, daytime queries, and nighttime queries). We also report the recording durations, trajectory lengths, and mapped area sizes.
Scene	# Video Frames (D & N)	# NVS Images (D & N)	# Visual Reloc Images			Duration (hh:mm)			Trajectory Length (m)			Area (m²)
Scene			DB	Day Q	Night Q	Day	Night	D & N	Day	Night	D & N	Area (m²)
Bodleian Lib.	~205,405	41,081	2,542	1,310	2,908	01:32	01:18	02:50	7,170	5,617	12,787	25,939
H.B. Allen Cen.	~29,340	5,868	305	158	449	00:13	00:10	00:24	975	765	1,740	1,271
Keble College	~112,205	22,441	1,020	526	1,511	00:46	00:46	01:33	3,574	3,400	6,974	5,709
Obs. Quarter	~87,210	17,442	821	424	1,342	00:34	00:38	01:12	2,853	3,050	5,903	5,950
Robotics Inst.	~57,590	11,518	778	401	987	00:25	00:22	00:47	1,249	1,030	2,279	600
Total	~491,750	98,350	5,466	2,819	7,197	03:32	03:16	06:48	15,822	13,862	29,685	39,469