Public datasets¹ for research on laser-based SLAM, localization and mapping.

Folder structure

slam_datasets
│   download.sh
├───bull_rock_cave
├───subt_finals
└───forest

• To download the datasets, run script download.sh [datasets].
  • Beware, the datasets can be large!
  • Datasets can be downloaded by specifying a comma-separated list of datasets:
    • ./download.sh "bull_rock_cave,subt_finals"
  • All datasets will be downloaded if no argument is given.

Datasets

• Bull Rock Cave [1]
• DARPA Subterranean Challenge [1, 2]
• Forest

References

• [1] Petracek, P.; Kratky, V.; Petrlik, M.; Baca, T.; Kratochvil, R.; Saska, M. Large-Scale Exploration of Cave Environments by Unmanned Aerial Vehicles, IEEE Robotics and Automation Letters 2021, 6, 7596–7603.
• [2] V. Kratky, P. Petracek, T. Baca and M. Saska, An autonomous unmanned aerial vehicle system for fast exploration of large complex indoor environments, Journal of field robotics, May 2021.

Footnotes

1. Datasets are stored on internal MRS NAS. ↩