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CARMEN
OpenSLAM

Data Set fr_campus

Data set Submitted by File totals
Name: fr_campus
Desc: Outdoor dataset recorded at the University of Freiburg
Cyrill Stachniss and Giorgio Grisetti
stachnis@informatik.uni-freiburg.de
20 Jul 2004
4 files; 14 Mb

Detailed Description
log-file: fr-campus-20040714.carmen.log

format : raw robot data file in the carmen logger format (ODOM, FLASER, PARAM)

robot : Pioneer2AT (herbert) with one SICK LMS291-S05 (FLASER)

date : 14 July 2004

place : campus of the Department of Computer Science, Univ of Freiburg

size : approx. 250m x 250m, robot traveled 1.750km (~ 1.088 miles)

creators: Cyrill Stachniss & Giorgio Grisetti

map(s) : carmen-map-files:
fr_campus_100p_10cm.cmf - 100 particles, 10cm grid resolution
fr_campus_100p_30cm.cmf - 100 particles, 30cm grid resolution
fr_campus_30p_10cm.cmf - 30 particles, 10cm grid resolution
fr_campus_30p_30cm.cmf - 30 particles, 30cm grid resolution

image-files:
fr_campus_100p_10cm.png
fr_campus_100p_30cm.png
fr_campus_100p_30cm_path.png (including the path of the robot)
fr_campus_30p_10cm.png
fr_campus_30p_30cm.png

The maps have been created with Giorgio Grisetti\'s great
Rao-Blackwellized mapper. For more information see:
Cyrill Stachniss, Giorgio Grisetti, Dirk Haehnel, and
Wolfram Burgard. \"Improved Rao-Blackwellized Mapping by
Adaptive Techniques and Active Loop-Closure\" (SOAVE04,
SelfOrganization of AdaptiVE behavior 04).

We generated the maps with two different particle sets. The first
map was computed with 100 particles which produces really nice
results. Due to Giorgio\'s optimization he is able to build the
map with only 30(!) particles and the result is nearly as good
as the one 100 particles.

comments: This is an outdoor data-set with some moving objects (cars
people, bikes), with some trees, bushes, a lot of free space
and of course not 100% plain surfaces....
File Format Description
carmen log file format (ODOM, FLASER, PARAM),
carmen map format and
png images
Files
fr-campus-20040714.carmen.log.gz8Mb
fr-campus-20040714.readme.txt0Mb
fr_campus_carmenmaps.tgz2Mb
fr_campus_images.tgz2Mb