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A ROS and OpenCV version of RatSLAM is available at: Google Code

Please see the following paper for more information about openRatSLAM. We would appreciate cites if you use the code.
David Ball, Scott Heath, Janet Wiles, Gordon Wyeth, Peter Corke, Michael Milford (2013) OpenRatSLAM: an open source brain-based SLAM system. Autonomous Robots. DOI 10.1007/s10514-012-9317-9

We provide the following datasets here:

  • iRat 2011 Australia
  • St Lucia 2007
  • Oxford's New College dataset

Click on the hyperlinked description to download the file.
You may need to right click the file and select download to get the file - some browsers will try and open the file rather than downloading it.

iRat 2011 Australia

The iRat - intelligent Rat animat technology

St Lucia 2007

See the youtube video describing this dataset. The dataset for the ROS version of openRatSLAM is available at (in multipart zip):

Oxford's New College (2008)

We have re-encoded Oxford's dataset that is available here into a rosbag file. The rosbag file only include the odometry and the panoramic image sensor data. The odometry has been integrated to be at the same rate (3Hz) as the panoramic images. Note that this re-encoded datset file has been created without permission and is maintained purely by us.

If you use this dataset, please reference the original paper:

  • Mike Smith, Ian Baldwin, Winston Churchill, Rohan Paul, Paul Newman (2009) The New College Vision and Laser Data Set. The International Journal of Robotics Research. 28:5