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The UTIAS multi-robot cooperative localization and mapping dataset

The UTIAS multi-robot cooperative localization and mapping dataset This paper presents a two-dimensional multi-robot cooperative localization and mapping dataset collection for research and educational purposes. The dataset consists of nine sub-datasets, which can be used for studying problems such as robot-only cooperative localization, cooperative localization with a known map, and cooperative simultaneous localization and mapping (SLAM) . The data collection process is discussed in detail, including the equipment we used, how measurements were made and logged, and how we obtained groundtruth data for all robots and landmarks. The format of each file in each sub-dataset is also provided. The dataset is available for download at http://asrl.utias.utoronto.ca/datasets/mrclam/. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png The International Journal of Robotics Research SAGE

The UTIAS multi-robot cooperative localization and mapping dataset

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References (5)

Publisher
SAGE
Copyright
© The Author(s) 2011
ISSN
0278-3649
eISSN
1741-3176
DOI
10.1177/0278364911398404
Publisher site
See Article on Publisher Site

Abstract

This paper presents a two-dimensional multi-robot cooperative localization and mapping dataset collection for research and educational purposes. The dataset consists of nine sub-datasets, which can be used for studying problems such as robot-only cooperative localization, cooperative localization with a known map, and cooperative simultaneous localization and mapping (SLAM) . The data collection process is discussed in detail, including the equipment we used, how measurements were made and logged, and how we obtained groundtruth data for all robots and landmarks. The format of each file in each sub-dataset is also provided. The dataset is available for download at http://asrl.utias.utoronto.ca/datasets/mrclam/.

Journal

The International Journal of Robotics ResearchSAGE

Published: Jul 1, 2011

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