[Top view of the environment from second floor]
As part of our project we observed a real environment through continuous robot observations.
A sensor mounted robot was manually driven in "Temposan" shopping mall in Osaka-ko, Osaka, Japan. and recorded following data set. The shopping mall covers an area of approximately 80 x 100 m2.
[Top view of the environment from second floor]
During each recording the robot started at the same location and returned to the same location after traversing the environment.
The robot was a Pioneer P3-DX robot equipped with a 3D laser radar sensor (Velodyne HDL-32E) and an IMU (Memsic VG440) sensor.
[Velodyne sensor]
[Sensor mounted robot]
In the dataset each data log is a standard ros-bag file which could be replayed with a stable version of robot operating system (ROS). The data logs were recorded in ROS-INDIGO.
[Replaying data in ROS.]
[Sensor mounted robot operating in the environment]
The dataset is split into 7 independent logs each consisting of one traversal. The files are big ( > 10 GB), so downloading might take a while.
THU_01->13.7GB
THU_02->12.5GB
FRI_01->15.6GB
FRI_02->14.5GB
FRI_03->15.3GB
SAT_01->13.7GB
SAT_02->12.3GB
You can find more details about the system in the reference paper below.
[To be updated ....]
The dataset is free to use for research purposes only.
In case you use the datasets in your work please be sure to cite the reference paper below.
[When the reference paper is unavailable please refer to this page]
[To be updated .....]
For any questions concerning the datasets please contact:
