A dataset is recorded consisting of omnidirectional images, laser range data, sonar readings and robot odometry. The dataset is meant for testing and benchmarking methods proposed in the papers sent to the workshop, as well as stimulating the discussion about spatial representations for mobile robots.
The acquisition of the dataset took place in a home environment constructed by UNET (http://www.unet.nl/, linked site is in dutch). A Nomad scout was driven around by tele-operation while data was collected on a mounted laptop. The robot was driven through the environment three times, one \"clean\" run with as low noise level as possible, one \"noisy\" run with people walking through the environment and one \"home-tour\" run, in which a person is guiding the robot around the house. Each run took around 5 minutes.