UTIAS Multi-Robot Cooperative Localization and Mapping Dataset

홈페이지 · 논문 1편

This 2d indoor dataset collection consists of 9 individual datasets. Each dataset contains odometry and (range and bearing) measurement data from 5 robots, as well as accurate groundtruth data for all robot poses and (15) landmark positions. The dataset is intended for studying the problems of cooperative localization (with only a team robots), cooperative localization with a known map, and cooperative simultaneous localization and mapping (SLAM).