SLAM Data Sets

24 Dec 2010 robots  ros  slam  Over the past semester I've been spending a lot of time working with low-cost SLAM. In doing so, I've collected a number of datasets around the Albany campus. I've uploaded a number of them (as ROS bag files), along with sample maps, to this site. All are free to use these datasets for whatever they please -- however, please post back maps and algorithms/parameters used to create them. Over time I would like to develop a set of best-known algorithms/parameters for low-cost SLAM.

These datasets were collected on iRobot Creates, the Neato XV-11, and the Vanadium Armadillo using the Neato Laser or the Hokuyo URG-04LX-UG01. In particular, I've recently collected a dataset I really am looking forward to working with: the 2010-12-23-double-laser.bag dataset, which consists of a long route around the ILS lab with a Neato XV-11. I mounted a second laser on the Neato for this run, a Hokuyo URG-04LX-UG01 sensor, which is aligned with the Neato laser from above:

And a picture of the Neato with second laser: