Journal
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
Volume 30, Issue 8, Pages 969-974Publisher
SAGE PUBLICATIONS LTD
DOI: 10.1177/0278364911398404
Keywords
Localization; mapping; SLAM; distributed robotics; networked robots
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Funding
- Natural Sciences and Engineering Research Council (NSERC) of Canada [484687, 360129-2008]
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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/.
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