CORAL Group - Carnegie Mellon University

CoBot Datasets

Over the course of regular deployments of the CoBots, we have been logging sensor data, as well as the reported location of the CoBots (as computed by the on-board localization algorithms) and the locations where the localization was reset. The sensor data logged include the observed robot odometry and the laser rangefinder observations. Please cite our paper (listed below) if you use this data in your research.

The logs are saved in the ROS bag format. Laser messages are in the standard sensor_msgs/LaserScan format, odometry in the standard nav_msgs/Odometry format, and localization initialization and location estimates in the custom cobot_msgs/LocalizationMsg format. The bag files are available for download from here. The maps used for localization are available for download from here

Journal Article: Localization and navigation of the CoBots over long-term deployments,
Joydeep Biswas and Manuela Veloso.
In The International Journal of Robotics Research, December 2013, Vol.32 number 14, pages 1679-1694.

Bibtex Entry:
  author = {Biswas, Joydeep and Veloso, Manuela M.}, 
  title = {Localization and navigation of the CoBots over long-term deployments},
  volume = {32}, 
  number = {14}, 
  pages = {1679-1694}, 
  year = {2013}, 
  doi = {10.1177/0278364913503892}, 
  URL = {}, 
  eprint = {}, 
  journal = {The International Journal of Robotics Research}