Data set for challenging data association
There are two data sets. One has artificial landmarks with white or black circles on the ground. The position of the landmark is then given as as relative 2D coordinate in the robots frame.
The second data set is more difficult. The landmark are natural vertical lines in the image. Their position is only given as an angle in respect to the robot.
The data sets are preprocessed and provide geometric data as measurement. No computer vision or similar is necessary.
Video
Have a look at the videos from this data set, to get an overview.
Data (updated on April 25)
The data set comes also in two variants. With and without image files. It's usable without images but then the visualization is more or less meaningless.
Download
Data set (full, 850MB) >>download
Data set (no images, 25MB) >>download
Frequently asked questions
Since the data set is new to most people many questions
arise. We added a FAQ section to help about the data set.
Description of Format
In the set the files map.lines and map.circles contain the pre-processed data.
The format is line based and also
documented in the file itself. A (not fully complete)
description can be found on the description page.
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