Bitmap map created from CAD model of the fourth floor of the hospital building at Fort Sam Houston, Texas. This building was the site of the DARPA TMR project demos in 1999, so several papers show data collected in this building. The floor layout is very big and varied, suitable for chopping up into interesting sections.
The original AutoCAD model was obtained from $TMR_PARTICIPANT, then cleaned up by hand to remove door and other architectural symbols, toilet bowls, sinks, etc.
This file is distributed with the Stage multi-robot simulator and has been used by several projects since 1999.