The MIT Stata Center Dataset - Robotics Institute Carnegie Mellon University

The MIT Stata Center Dataset

M. Fallon, H. Johannsson, Michael Kaess, and J. J. Leonard
Journal Article, International Journal of Robotics Research: Special Issue on Long-Term Autonomy, Vol. 32, No. 14, pp. 1695 - 1699, December, 2013

Abstract

This paper presents a large scale dataset of vision (stereo and RGB-D), laser and proprioceptive data collected over an extended duration by a Willow Garage PR2 robot in the 10 story MIT Stata Center. As of September 2012 the dataset comprises over 2.3 TB, 38 h and 42 km (the length of a marathon). The dataset is of particular interest to robotics and computer vision researchers interested in long-term autonomy. It is expected to be useful in a variety of research areas— robotic mapping (long-term, visual, RGB-D or laser), change detection in indoor environments, human pattern analysis, long-term path planning. For ease of use the original ROS ‘bag’ log files are provided and also a derivative version combining human readable data and imagery in standard formats. Of particular importance, this dataset also includes ground-truth position estimates of the robot at every instance (to typical accuracy of 2 cm) using as-built floor-plans— which were carefully extracted using our software tools. The provision of ground-truth for such a large dataset enables more meaningful comparison between algorithms than has previously been possible.

BibTeX

@article{Fallon-2013-7812,
author = {M. Fallon and H. Johannsson and Michael Kaess and J. J. Leonard},
title = {The MIT Stata Center Dataset},
journal = {International Journal of Robotics Research: Special Issue on Long-Term Autonomy},
year = {2013},
month = {December},
volume = {32},
number = {14},
pages = {1695 - 1699},
keywords = {Data paper, PR2, Willow Garage, laser, stereo, Simultaneous Localization and Mapping, mobile robotics, CSAIL, Stata, MIT},
}