The UTIAS multi-robot cooperative localization and mapping dataset

Keith YK Leung, Yoni Halpern, Timothy D Barfoot, Hugh HT Liu
2011 The international journal of robotics research  
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
more » ... , 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
doi:10.1177/0278364911398404 fatcat:z75bh5ldrza3jbhfyhkolmk7dq