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Navlab SLAMMOT Datasets

About
These data sets contain the sensor data collected by the Navlab11 testbed. By sharing these data sets with the the community, we aim to facilitate the development of localization, mapping and moving object tracking algorithms.

Description

Data Sets
Date
Time
SICK scans
Pose Data
Visual Images
Loop 1 Mar. 10th, 2002
17:41:54
10,753
4,847
4,053 (Omni-Cam)
Loop 2 Mar. 10th, 2002
17:54:07
3,715
1,671
1,384 (Omni-Cam)
Loop 3 Dec. 17th, 2002
13:54:49
~36,500
~36,500 14,962 (Tri-Cam)
  • Loop 1: From Henry St., right on S. Craig St., right on Winthrop St., right on S. Dithridge St., right on Henry St., repeat twice.
  • Loop 2:  From S. Craig St., right on Forbes Ave., right on S. Bellefield Ave, right on Filmore St.
  • Loop 3: From Fifth Ave/S. Dithridge St. towards town, left on Meyran Ave., left on Forbes Ave., left on S. Dithridge St., repeat once.
aerial photos of data sets
The Aerial Photo is downloaded from and the copyrighted property of GlobeXplorer, LLC. ("GlobeXplorer").

Download

 The attached file readdata.m includes a Matlab routine illustrating how to read the data files.

  • Loop3.zip (32.2 MB, temporarily unavailable)
Contributors
members

To Reference

If you make use of any of these datasets, please include this reference in your publications:

Text Reference:
C.-C. Wang, D. Duggins, J. Gowdy, J. Kozar, R. MacLachlan, C. Mertz, A. Suppe and C. Thorpe. Navlab SLAMMOT Datasets. Carnegie Mellon University.

BibTex Reference:
@Misc{NavlabDataSets,
  title =  {Navlab SLAMMOT Datasets},
  author =  {Chieh-Chih Wang and David Duggins and Jay Gowdy and John Kozar and Robert
MacLachlan and Christoph Mertz and Arne Suppe and Charles Thorpe},
  howpublished = {www.cs.cmu.edu/\~{}bobwang/datasets.html},
  month =        {May},
  year =         {2004},
  note =         {Carnegie Mellon University} ,
}

Copyright Notice
Copyright 2001-2004 by Carnegie Mellon University. All rights reserved.

Developed by the members at the Navlab group, the Robotics Institute,
Carnegie Mellon University, Pittsburgh, PA, U.S.A.

Permission to use, copy, modify, publicly display and distribute these
datasets is hereby granted without fee provided that (i) all use of the
images is solely for educational and research purposes; (ii) all distribution
of the datasets is at no-cost, except for recovery of cost of the media; and
(iii) the copyright notice and the authors name(s) appear on all copies, and
this permission notice is included with each distribution. You may also publish
the datasets in scholarly journals to report research results without further
permission from Carnegie Mellon University. Any other commercial distribution
or publication of the datasets, in original or modified form, requires the prior
written permission of Carnegie Mellon University. The name of Carnegie
Mellon University, the Robotics Institute and/or the Navlab group may not be
used in advertising or publicity without the prior written permission of
Carnegie Mellon University.


Other Related Data Sets

Copyright © Chieh-Chih (Bob) Wang 1999-2004. All right reserved.
Last Updated: May. 10, 2004.