学习激光SLAM期间，很多论文和作品都会用几个标准的数据集，来验证自己的slam改进算法，比较建图效果； 或建完图之后测试定位效果。
数据集包括：
Intel Research Lab (Seattle)
ACES Building (Austin)
2 MIT Killian Court (2D)
MIT CSAIL Building
Freiburg Indoor Building 079
Freiburg University Hospital (3D)
官网地址：SLAM Benchmarking Datasets
http://ais.informatik.uni-freiburg.de/slamevaluation/datasets.php
截止2023年4月，官网可能有更新，可以查看该网址
SLAM Benchmarking Datasets (uni-freiburg.de)
Cyrill Stachniss (uni-freiburg.de)
Cyrill Stachniss (uni-freiburg.de)
http://www2.informatik.uni-freiburg.de/~stachnis/datasets.html
This website is outdated, please visit my new site here.
Robotics Datasets
The data files on this page are available on Radish, are self-recorded, or have been provided to me. I would like to thank everyone who contributed to this work by publishing log-files. If you want to use a log-file provided on this page, please take care that the correct person gets acknowledged!
MIT CSAIL
The raw log data was recorded by Cyrill Stachniss.
| 正在上传…重新上传取消 | 正在上传…重新上传取消 | raw-log (carmen-new) raw-log (carmen-old) corrected-log (carmen-old) RBPF-log (gfs) |
Freiburg Campus
The raw log data was recorded by Cyrill Stachniss and Giorgio Grisetti.
| 正在上传…重新上传取消 | 正在上传…重新上传取消 | raw-log (carmen) corrected-log (carmen) RBPF-log (gfs) |
Intel Reserach Lab
The raw log data was provided by Dirk Haehnel.
| 正在上传…重新上传取消 | 正在上传…重新上传取消 | raw-log (carmen) corrected-log (carmen) RBPF-log (gfs) |
Seattle, UW
The raw log data was provided by Dirk Haehnel.
| 正在上传…重新上传取消 |
| corrected-log (carmen) RBPF-log (gfs) |
MIT Infinite Corridor Dataset
The raw log data was provided by Mike Bosse and John Leonard.
| 正在上传…重新上传取消 | 正在上传…重新上传取消 | corrected-log (carmen) raw-log (carmen) |
Orebro
The raw log data was provided by Henrik Andreasson, Per Larsson, and Tom Duckett.
| 正在上传…重新上传取消 | 正在上传…重新上传取消 | raw-log (carmen) corrected-log (carmen) RBPF-log (gfs) |
Belgioioso Castle
The raw log data was provided by Dirk Haehnel.
| 正在上传…重新上传取消 | 正在上传…重新上传取消 | raw-log (carmen) corrected-log (carmen) |
FHW
The raw log data was provided by Dirk Haehnel.
| 正在上传…重新上传取消 | 正在上传…重新上传取消 | raw-log (carmen) corrected-log (carmen) RBPF-log (gfs) |
ACES3, Austin
The raw log data was provided by Patrick Beeson.
| 正在上传…重新上传取消 | 正在上传…重新上传取消 | raw-log (@Radish) raw-log (carmen) corrected-log (carmen) RBPF-log (gfs) |
Edmonton
The raw log data was provided by Nick Roy.
| 正在上传…重新上传取消 | 正在上传…重新上传取消 | raw-log (@Radish) corrected-log (carmen) RBPF-log (gfs) |
Freiburg, Building 079
The raw log data was recorded by Cyrill Stachniss.
| 正在上传…重新上传取消 | 正在上传…重新上传取消 | raw-log (carmen) corrected-log (carmen) RBPF-log (gfs) |
Freiburg, Building 101
The raw log data was recorded by Cyrill Stachniss.
| 正在上传…重新上传取消 | 正在上传…重新上传取消 | raw-log (carmen) corrected-log (carmen) RBPF-log (gfs) |
Acapulco Convention Center, Mexico
The raw log data was provided by Nick Roy.
| 正在上传…重新上传取消 | 正在上传…重新上传取消 | raw-log (@Radish) corrected-log (carmen) RBPF-log (gfs) |
Cyrill大神主页官网更新的网站：Pre-2014 Robotics 2D-Laser Datasets – StachnissLab (uni-bonn.de)
貌似这些都是2014年以前的，之后几乎很少研究2D激光slam了，全世界大部分同行都转战3Dslam（激光）或者视觉slam，用在室外无人驾驶上面或者室内车库的场景。
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