Datasets
Available datasets
- Utsunomiya University (Yoto Campus) - divided onto 9 submaps Data
- Utsunomiya University (Yoto Campus) to LRT station (Bellmall) Data
- Oya, Utsunomiya (area around Kannon statue) Data
 |
 |
 |
|---|---|---|
| Utsunomiya University | Utsunomiya->LRT | Oya park |
Sensor data available:
- 3D pointclouds acquired by a Robosense RS-LiDAR-32
- Encoder information from wheel encoders
- Wireless signal strength information (channels 1 and 6)
- Magnetic strength infromation
- IMU data Datasets have been recorded using ROS. Be aware rosbag datasets can be considerable large (over 100GB per dataset)
Map formats
In addition to raw sensor data, we also provided different processed maps
Geometric Maps
- 2D: occupancy gridmap (pgm, png, txt)
- 3D: octomap, ply, pcd
Intenisty Maps (Invisible data)
- Wifi: intensity map (python-npy)
- Magnetic: intensity map (python-npy)