The UTIAS multi-robot cooperative localization and mapping dataset

Authors:
Keith Yk Leung;Yoni Halpern;Timothy D Barfoot;Hugh Ht Liu
Affiliations:
Institute for Aerospace Studies, University of Toronto,Canada;Institute for Aerospace Studies, University of Toronto,Canada;Institute for Aerospace Studies, University of Toronto,Canada;Institute for Aerospace Studies, University of Toronto,Canada
Venue:
International Journal of Robotics Research
Year:
2011

Citing 2
Cited 1

Decentralized localization for dynamic and sparse robot networks

ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Decentralized localization of sparsely-communicating robot networks: a centralized-equivalent approach

IEEE Transactions on Robotics

Decentralized Cooperative SLAM for Sparsely-Communicating Robot Networks: A Centralized-Equivalent Approach

Journal of Intelligent and Robotic Systems

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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/.