UTIAS Multi-Robot Cooperative Localization and Mapping Dataset
This 2d indoor dataset collection consists of 9 individual datasets. Each dataset contains odometry and (range and bearing) measurement data from 5 robots, as well as accurate groundtruth data for all robot poses and (15) landmark positions. The dataset is intended for studying the problems of cooperative localization (with only a team robots), cooperative localization with a known map, and cooperative simultaneous localization and mapping (SLAM).
Data Collection Details
In each dataset, robots move to random waypoints in a 15m×8m indoor space while logging odometry data, and range-bearing observations to landmarks and other robots. [Video example of the dataset collection process]
The Network Time Protocol (NTP) daemon is used to synchronize the clocks between the computers on each robot and the groundtruth data logging computer. Average timing error is on the order of 1×10-3s.
File Format and Description
Each dataset has 17 text files:
Landmark Groundtruth File
Robot Groundtruth File
Filename: Robot[Subject #]_Groundtruth.dat
Robot Odometry File
Filename: Robot[Subject #]_Odometry.dat
Robot Measurement Files
Filename: Robot[Subject #]_Measurement.dat
Cooperative Localization with Robots Only
All measurements associated with landmarks (subject numbers 6-20) should be ignored. Landmark groundtruth data can also be ignored. Robot groundtruth data should be used to evaluate localization performance.
Cooperative Localization with a Known Map
Landmark groundtruth data should be used to construct the map. Robot groundtruth data should be used to evaluate localization performance.
Use all data. Robot and landmark groundtruth data should be used to evaluate localization performance. [Example]
Reducing the Number of Robots or LandmarksIgnore all data associated with subject numbers that correspond with certain robots and landmarks.
Limiting Measurement RangeIgnore measurements with range (r) above a certain threshold.
Limiting Communication RangeUse groundtruth data to determine if and when robots are allowed to exchange information for state estimation. [Example]
Each dataset can be downloaded individually as a zip archive from ftp://asrl3.utias.utoronto.ca/MRCLAM/ . Videos taken using cameras overlooking the datasect collection area, as well as robot images from dataset 7 are also available for download.
Internet Explorer users may need to manually add "" before the ftp address.
The following tools are provided for the convenience of dataset users.
If you use the data provided by this website in your own work, please use the following citation:
Leung K Y K, Halpern Y, Barfoot T D, and Liu H H T. “The UTIAS Multi-Robot Cooperative Localization and Mapping Dataset”. International Journal of Robotics Research, 30(8):969–974, July 2011.