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OpenSLAM

Data Set chosun_university_data

Data set Submitted by File totals
Name: chosun_university_data
Desc: A long corridor with a length of 375m.
Nakju Lett Doh
Nakju Lett Doh (nakju@korea.ac.kr)
11 Apr 2011
1 files; 9 Mb

Detailed Description
The data set is about 110-minute tour through the long corridor (375m) of Chosun University\'s main building. The corridor has a non-cyclic structure. A Pioneer 2DX was used for the experiment. A forward-pointing SICK LMS 200 mounted at the robot\'s center of rotation. The sampling time is 4Hz and the resolution of LRF is 1 degree (181 rays). The robot moves at the speed of 0.1m/s (linear velocity) and 0.5 deg/s (angular velocity) The SLAM result is done by VPass (Vanishing Point Compass).
File Format Description
The file format is MATLAB .mat file. It contains sec, odometry, and LRF data - sec[s] - odometry : x[m], y[m], theta[rad] - LRF Range [0]~[180] : range[m] - Velocity : linear[m/s], angular[rad/s] The data order is same as following: Time (1) | Odometry (2:4) | LRF (5:185) | Velocity (185:186)
Files
chosun_univ.mat8Mb