Public Data

2D Cartographer Backpack – Deutsches Museum

This data was collected using a 2D LIDAR backpack at the Deutsches Museum. Each bag contains data from an IMU, data from a horizontal LIDAR intended for 2D SLAM, and data from an additional vertical (i.e. push broom) LIDAR.

License

Copyright 2016 The Cartographer Authors

Licensed under the Apache License, Version 2.0 (the “License”); you may not use this file except in compliance with the License. You may obtain a copy of the License at

http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an “AS IS” BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

Data

ROS Bag Duration Size Floor Known Issues
b0-2014-07-11-10-58-16.bag 149 s 38 MB
  1. OG
 
b0-2014-07-11-11-00-49.bag 513 s 135 MB
  1. OG
 
b0-2014-07-21-12-42-53.bag 244 s 64 MB
  1. OG
 
b0-2014-07-21-12-49-19.bag 344 s 93 MB EG 1 gap in vertical laser data
b0-2014-07-21-12-55-35.bag 892 s 237 MB EG  
b0-2014-07-21-13-11-35.bag 615 s 162 MB EG  
b0-2014-08-14-13-23-01.bag 768 s 204 MB
  1. OG
 
b0-2014-08-14-13-36-48.bag 331 s 87 MB
  1. OG
 
b0-2014-10-07-12-13-36.bag 470 s 125 MB
  1. OG
 
b0-2014-10-07-12-34-42.bag 491 s 127 MB
  1. OG
 
b0-2014-10-07-12-43-25.bag 288 s 77 MB
  1. OG
 
b0-2014-10-07-12-50-07.bag 815 s 215 MB
  1. OG
 
b1-2014-09-25-10-11-12.bag 1829 s 480 MB EG  
b1-2014-10-02-14-08-42.bag 930 s 245 MB
  1. OG
 
b1-2014-10-02-14-33-25.bag 709 s 181 MB
  1. OG
 
b1-2014-10-07-12-12-04.bag 737 s 194 MB
  1. OG
 
b1-2014-10-07-12-34-51.bag 766 s 198 MB
  1. OG
 
b2-2014-11-24-14-20-50.bag 679 s 177 MB
  1. OG
 
b2-2014-11-24-14-33-46.bag 1285 s 330 MB
  1. OG
 
b2-2014-12-03-10-14-13.bag 1051 s 275 MB
  1. OG
 
b2-2014-12-03-10-33-51.bag 356 s 89 MB
  1. OG
 
b2-2014-12-03-10-40-04.bag 453 s 119 MB
  1. OG
 
b2-2014-12-12-13-51-02.bag 1428 s 368 MB
  1. OG
 
b2-2014-12-12-14-18-43.bag 1164 s 301 MB
  1. OG
 
b2-2014-12-12-14-41-29.bag 168 s 46 MB
  1. OG
 
b2-2014-12-12-14-48-22.bag 243 s 65 MB
  1. OG
 
b2-2014-12-17-14-33-12.bag 1061 s 277 MB
  1. OG
 
b2-2014-12-17-14-53-26.bag 246 s 62 MB
  1. OG
 
b2-2014-12-17-14-58-13.bag 797 s 204 MB EG  
b2-2015-02-16-12-26-11.bag 901 s 236 MB
  1. OG
 
b2-2015-02-16-12-43-57.bag 1848 s 475 MB
  1. OG
 
b2-2015-04-14-14-16-36.bag 1353 s 349 MB
  1. OG
 
b2-2015-04-14-14-39-59.bag 670 s 172 MB
  1. OG
 
b2-2015-04-28-13-01-40.bag 618 s 162 MB
  1. OG
 
b2-2015-04-28-13-17-23.bag 2376 s 613 MB
  1. OG
 
b2-2015-05-12-12-29-05.bag 942 s 240 MB
  1. OG
2 gaps in laser data
b2-2015-05-12-12-46-34.bag 2281 s 577 MB
  1. OG
14 gaps in laser data
b2-2015-05-26-13-15-25.bag 747 s 195 MB
  1. OG
 
b2-2015-06-09-14-31-16.bag 1297 s 336 MB
  1. OG
 
b2-2015-06-25-14-25-51.bag 1071 s 272 MB
  1. OG
 
b2-2015-07-07-11-27-05.bag 1390 s 362 MB
  1. OG
 
b2-2015-07-21-13-03-21.bag 894 s 239 MB
  1. OG
 
b2-2015-08-04-13-39-24.bag 809 s 212 MB
  1. OG
 
b2-2015-08-18-11-42-31.bag 588 s 155 MB UG  
b2-2015-08-18-11-55-04.bag 504 s 130 MB UG  
b2-2015-08-18-12-06-34.bag 1299 s 349 MB EG  
b2-2015-09-01-11-55-40.bag 1037 s 274 MB UG  
b2-2015-09-01-12-16-13.bag 918 s 252 MB EG  
b2-2015-09-15-14-19-11.bag 859 s 225 MB
  1. OG
 
b2-2015-11-24-14-12-27.bag 843 s 226 MB
  1. OG
 
b2-2016-01-19-14-10-47.bag 310 s 81 MB
  1. OG
 
b2-2016-02-02-14-01-56.bag 787 s 213 MB EG 1 gap in laser data
b2-2016-03-01-14-09-37.bag 948 s 255 MB EG  
b2-2016-03-15-14-23-01.bag 810 s 215 MB EG  
b2-2016-04-05-14-44-52.bag 360 s 94 MB
  1. OG
 
b2-2016-04-27-12-31-41.bag 881 s 234 MB
  1. OG
 

3D Cartographer Backpack – Deutsches Museum

This data was collected using a 3D LIDAR backpack at the Deutsches Museum. Each bag contains data from an IMU and from two Velodyne VLP-16 LIDARs, one mounted horizontally (i.e. spin axis up) and one vertically (i.e. push broom).

License

Copyright 2016 The Cartographer Authors

Licensed under the Apache License, Version 2.0 (the “License”); you may not use this file except in compliance with the License. You may obtain a copy of the License at

http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an “AS IS” BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

Data

ROS Bag Duration Size Known Issues
b3-2015-12-10-12-41-07.bag 1466 s 7.3 GB 1 large gap in data
b3-2015-12-10-13-10-17.bag 718 s 5.5 GB 1 gap in data
b3-2015-12-10-13-31-28.bag 720 s 5.2 GB 2 large gaps in data
b3-2015-12-10-13-55-20.bag 429 s 3.3 GB  
b3-2015-12-14-15-13-53.bag 916 s 7.1 GB  
b3-2016-01-19-13-26-24.bag 1098 s 8.1 GB  
b3-2016-01-19-13-50-11.bag 318 s 2.5 GB  
b3-2016-02-02-13-32-01.bag 47 s 366 MB  
b3-2016-02-02-13-33-30.bag 1176 s 9.0 GB  
b3-2016-02-09-13-17-39.bag 529 s 4.0 GB  
b3-2016-02-09-13-31-50.bag 801 s 6.1 GB  
b3-2016-02-10-08-08-26.bag 3371 s 25 GB  
b3-2016-03-01-13-39-41.bag 382 s 2.9 GB  
b3-2016-03-01-15-42-37.bag 3483 s 17 GB 6 large gaps in data
b3-2016-03-01-16-42-00.bag 313 s 2.4 GB  
b3-2016-03-01-16-48-39.bag 375 s 2.8 GB  
b3-2016-03-02-10-09-32.bag 1150 s 6.6 GB 3 large gaps in data
b3-2016-04-05-13-54-42.bag 829 s 6.1 GB  
b3-2016-04-05-14-14-00.bag 1221 s 9.1 GB  
b3-2016-04-05-15-51-36.bag 30 s 231 MB  
b3-2016-04-05-15-52-20.bag 377 s 2.7 GB  
b3-2016-04-05-16-00-55.bag 940 s 6.9 GB  
b3-2016-04-27-12-56-11.bag 2905 s 21 GB  
b3-2016-05-10-12-56-33.bag 1767 s 13 GB  
b3-2016-06-07-12-42-49.bag 596 s 3.9 GB 3 gaps in horizontal laser data

PR2 – Willow Garage

This is the Willow Garage data set, described in:

  • “An Object-Based Semantic World Model for Long-Term Change Detection and Semantic Querying.”, by Julian Mason and Bhaskara Marthi, IROS 2012.

More details about these data can be found in:

  • “Unsupervised Discovery of Object Classes with a Mobile Robot”, by Julian Mason, Bhaskara Marthi, and Ronald Parr. ICRA 2014.
  • “Object Discovery with a Mobile Robot” by Julian Mason. PhD Thesis, 2013.

License

Copyright (c) 2011, Willow Garage All rights reserved.

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

  • Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
  • Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
  • Neither the name of the <organization> nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Data

ROS Bag Known Issues
2011-08-03-16-16-43.bag Missing base laser data
2011-08-03-20-03-22.bag  
2011-08-04-12-16-23.bag  
2011-08-04-14-27-40.bag  
2011-08-04-23-46-28.bag  
2011-08-05-09-27-53.bag  
2011-08-05-12-58-41.bag  
2011-08-05-23-19-43.bag  
2011-08-08-09-48-17.bag  
2011-08-08-14-26-55.bag  
2011-08-08-23-29-37.bag  
2011-08-09-08-49-52.bag  
2011-08-09-14-32-35.bag  
2011-08-09-22-31-30.bag  
2011-08-10-09-36-26.bag  
2011-08-10-14-48-32.bag  
2011-08-11-01-31-15.bag  
2011-08-11-08-36-01.bag  
2011-08-11-14-27-41.bag  
2011-08-11-22-03-37.bag  
2011-08-12-09-06-48.bag  
2011-08-12-16-39-48.bag  
2011-08-12-22-46-34.bag  
2011-08-15-17-22-26.bag  
2011-08-15-21-26-26.bag  
2011-08-16-09-20-08.bag  
2011-08-16-18-40-52.bag  
2011-08-16-20-59-00.bag  
2011-08-17-15-51-51.bag  
2011-08-17-21-17-05.bag  
2011-08-18-20-33-16.bag  
2011-08-18-20-52-30.bag  
2011-08-19-10-12-20.bag  
2011-08-19-14-17-55.bag  
2011-08-19-21-35-17.bag  
2011-08-22-10-02-27.bag  
2011-08-22-14-53-33.bag  
2011-08-23-01-11-53.bag  
2011-08-23-09-21-17.bag  
2011-08-24-09-52-14.bag  
2011-08-24-15-01-39.bag  
2011-08-24-19-47-10.bag  
2011-08-25-09-31-05.bag  
2011-08-25-20-14-56.bag  
2011-08-25-20-38-39.bag  
2011-08-26-09-58-19.bag  
2011-08-29-15-48-07.bag  
2011-08-29-21-14-07.bag  
2011-08-30-08-55-28.bag  
2011-08-30-20-49-42.bag  
2011-08-30-21-17-56.bag  
2011-08-31-20-29-19.bag  
2011-08-31-20-44-19.bag  
2011-09-01-08-21-33.bag  
2011-09-02-09-20-25.bag  
2011-09-06-09-04-41.bag  
2011-09-06-13-20-36.bag  
2011-09-08-13-14-39.bag  
2011-09-09-13-22-57.bag  
2011-09-11-07-34-22.bag  
2011-09-11-09-43-46.bag  
2011-09-12-14-18-56.bag  
2011-09-12-14-47-01.bag  
2011-09-13-10-23-31.bag  
2011-09-13-13-44-21.bag  
2011-09-14-10-19-20.bag  
2011-09-15-08-32-46.bag