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OpenSLAM

Data Set kenmore_pradoroof

Data set Submitted by File totals
Name: kenmore_pradoroof
Desc: Laser range data from suburban streets in Kenmore, QLD
Michael Bosse
mike.bosse@csiro.au
09 May 2007
2 files; 91 Mb

Detailed Description
Laser range data collected from two SICK LMS lasers mounted on the roof of a Toyota Prado driving through suburban streets in Kenmore, QLD, Australia. The data set is about 40 minutes long with a path length of about 18 km. There is no odometry or GPS for this data, but the laser scans are dense enough to make detailed maps and close large loops. The figure was generated from the optimized output of our scanmatched based SLAM algorithm under the Atlas framework, and manually overlayed with a satellite image.
File Format Description
lms0.txt.gz ---- front laser lms1.txt.gz ---- back laser Each row in the files contains the timestamp followed by the 181 range measurements in meters. The front laser (lms0) is mounted in the center of the roof, about 0.486m in front of the rear axle, and the back laser is mounted directly behind the front laser (facing the other direction) at a position of 0.3 m in front of the rear axle.
Files
lms0.txt.gz45Mb
lms1.txt.gz45Mb