Affiliation:
1. Institute for Aerospace Studies, University of Toronto, Canada,
2. Institute for Aerospace Studies, University of Toronto, Canada
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/.
Subject
Applied Mathematics,Artificial Intelligence,Electrical and Electronic Engineering,Mechanical Engineering,Modelling and Simulation,Software
Cited by
62 articles.
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