Indoor Level 7 S-Block Dataset
This indoor dataset was taken on level 7 of S-Block QUT Gardens Point campus. The data contains stereo images, laser data and wheel odometry in addition to secondary data such as camera calibrations and transforms between sensors. This data was collected over a single continuous run over the level with the Guiabot platform under manual control.
This dataset has been released for free and public use in testing and evaluating stereo visual odometry and visual SLAM algorithms.
A map of the traversed path
The platform used for experiments
YouTube video showing the trajectory
Links are provided to the ROS bag file below. The full and truncated datasets are available as split ~2.0GB files.
Un-Split after files downloaded:
-- "copy /b file1 + file2 + fileX output_file"
-- Then use 7zip to extract ros bag file.
-- "cat file.tar.gz.part-* | tar xz"
ROS Bag file
Full Indoor Level 7 S-Block Dataset (~2004 seconds and 25055 frames)
3747 Frame Subset (~300 seconds Frames 1 to 3747)
Basic Indoor Level 7 S-Block Dataset (~2004 seconds)
Localized Indoor Level 7 S-Block Dataset (~2004 seconds)
|Map Indoor Level 7 S-Block Dataset|
Please direct any dataset queries or issues to Timothy Morris.