The MIT Stata Center dataset. (December 2013)

• Record Type: Journal Article
• Authors: Fallon, Maurice; Johannsson, Hordur; Kaess, Michael; Leonard, John J
• Is Part Of: International journal of robotics research. Volume 32:Number 14(2013)
• Page Start: 1695
• Page End: 1699
• Publication Date: 2013-12
• Subjects: Data paper -- PR2 -- Willow Garage -- laser -- stereo -- Simultaneous Localization and Mapping -- mobile robotics -- CSAIL -- Stata -- MIT; Robots -- Periodicals; Robots, Industrial -- Periodicals; 629.89205
• DOI: 10.1177/0278364913509035
• Languages: English
• ISSNs: 0278-3649

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.