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data.rst 30 KB
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  1. .. Copyright 2016 The Cartographer Authors
    2. 

  2. 

  3. .. Licensed under the Apache License, Version 2.0 (the "License");
    4. 

  4.    you may not use this file except in compliance with the License.
    5. 

  5.    You may obtain a copy of the License at
    6. 

  6. 

  7. ..      http://www.apache.org/licenses/LICENSE-2.0
    8. 

  8. 

  9. .. Unless required by applicable law or agreed to in writing, software
    10. 

  10.    distributed under the License is distributed on an "AS IS" BASIS,
    11. 

  11.    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    12. 

  12.    See the License for the specific language governing permissions and
    13. 

  13.    limitations under the License.
    14. 

  14. 

  15. ===========
    16. 

  16. Public Data
    17. 

  17. ===========
    18. 

  18. 

  19. 2D Cartographer Backpack – Deutsches Museum
    20. 

  20. ===========================================
    21. 

  21. 

  22. This data was collected using a 2D LIDAR backpack at the
    23. 

  23. `Deutsches Museum <https://en.wikipedia.org/wiki/Deutsches_Museum>`_.
    24. 

  24. Each bag contains data from an IMU, data from a horizontal LIDAR intended for 2D
    25. 

  25. SLAM, and data from an additional vertical (i.e. push broom) LIDAR.
    26. 

  26. 

  27. License
    28. 

  28. -------
    29. 

  29. 

  30. Copyright 2016 The Cartographer Authors
    31. 

  31. 

  32. Licensed under the Apache License, Version 2.0 (the "License");
    33. 

  33. you may not use this file except in compliance with the License.
    34. 

  34. You may obtain a copy of the License at
    35. 

  35. 

  36. http://www.apache.org/licenses/LICENSE-2.0
    37. 

  37. 

  38. Unless required by applicable law or agreed to in writing, software
    39. 

  39. distributed under the License is distributed on an "AS IS" BASIS,
    40. 

  40. WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    41. 

  41. See the License for the specific language governing permissions and
    42. 

  42. limitations under the License.
    43. 

  43. 

  44. Data
    45. 

  45. ----
    46. 

  46. 

  47. =================================================================================================================================== ======== ====== ===== ============================
    48. 

  48. `ROS Bag <http://wiki.ros.org/Bags>`_                                                                                               Duration Size   Floor Known Issues
    49. 

  49. =================================================================================================================================== ======== ====== ===== ============================
    50. 

  50. `b0-2014-07-11-10-58-16.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b0-2014-07-11-10-58-16.bag>`_ 149 s    38 MB  1. OG
    51. 

  51. `b0-2014-07-11-11-00-49.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b0-2014-07-11-11-00-49.bag>`_ 513 s    135 MB 1. OG
    52. 

  52. `b0-2014-07-21-12-42-53.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b0-2014-07-21-12-42-53.bag>`_ 244 s    64 MB  1. OG
    53. 

  53. `b0-2014-07-21-12-49-19.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b0-2014-07-21-12-49-19.bag>`_ 344 s    93 MB  EG    1 gap in vertical laser data
    54. 

  54. `b0-2014-07-21-12-55-35.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b0-2014-07-21-12-55-35.bag>`_ 892 s    237 MB EG
    55. 

  55. `b0-2014-07-21-13-11-35.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b0-2014-07-21-13-11-35.bag>`_ 615 s    162 MB EG
    56. 

  56. `b0-2014-08-14-13-23-01.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b0-2014-08-14-13-23-01.bag>`_ 768 s    204 MB 1. OG
    57. 

  57. `b0-2014-08-14-13-36-48.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b0-2014-08-14-13-36-48.bag>`_ 331 s    87 MB  1. OG
    58. 

  58. `b0-2014-10-07-12-13-36.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b0-2014-10-07-12-13-36.bag>`_ 470 s    125 MB 1. OG
    59. 

  59. `b0-2014-10-07-12-34-42.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b0-2014-10-07-12-34-42.bag>`_ 491 s    127 MB 1. OG
    60. 

  60. `b0-2014-10-07-12-43-25.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b0-2014-10-07-12-43-25.bag>`_ 288 s    77 MB  1. OG
    61. 

  61. `b0-2014-10-07-12-50-07.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b0-2014-10-07-12-50-07.bag>`_ 815 s    215 MB 1. OG
    62. 

  62. `b1-2014-09-25-10-11-12.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b1-2014-09-25-10-11-12.bag>`_ 1829 s   480 MB EG
    63. 

  63. `b1-2014-10-02-14-08-42.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b1-2014-10-02-14-08-42.bag>`_ 930 s    245 MB 1. OG
    64. 

  64. `b1-2014-10-02-14-33-25.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b1-2014-10-02-14-33-25.bag>`_ 709 s    181 MB 1. OG
    65. 

  65. `b1-2014-10-07-12-12-04.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b1-2014-10-07-12-12-04.bag>`_ 737 s    194 MB 1. OG
    66. 

  66. `b1-2014-10-07-12-34-51.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b1-2014-10-07-12-34-51.bag>`_ 766 s    198 MB 1. OG
    67. 

  67. `b2-2014-11-24-14-20-50.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2014-11-24-14-20-50.bag>`_ 679 s    177 MB 1. OG
    68. 

  68. `b2-2014-11-24-14-33-46.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2014-11-24-14-33-46.bag>`_ 1285 s   330 MB 1. OG
    69. 

  69. `b2-2014-12-03-10-14-13.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2014-12-03-10-14-13.bag>`_ 1051 s   275 MB 1. OG
    70. 

  70. `b2-2014-12-03-10-33-51.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2014-12-03-10-33-51.bag>`_ 356 s    89 MB  1. OG
    71. 

  71. `b2-2014-12-03-10-40-04.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2014-12-03-10-40-04.bag>`_ 453 s    119 MB 1. OG
    72. 

  72. `b2-2014-12-12-13-51-02.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2014-12-12-13-51-02.bag>`_ 1428 s   368 MB 1. OG
    73. 

  73. `b2-2014-12-12-14-18-43.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2014-12-12-14-18-43.bag>`_ 1164 s   301 MB 1. OG
    74. 

  74. `b2-2014-12-12-14-41-29.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2014-12-12-14-41-29.bag>`_ 168 s    46 MB  1. OG
    75. 

  75. `b2-2014-12-12-14-48-22.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2014-12-12-14-48-22.bag>`_ 243 s    65 MB  1. OG
    76. 

  76. `b2-2014-12-17-14-33-12.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2014-12-17-14-33-12.bag>`_ 1061 s   277 MB 1. OG
    77. 

  77. `b2-2014-12-17-14-53-26.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2014-12-17-14-53-26.bag>`_ 246 s    62 MB  1. OG
    78. 

  78. `b2-2014-12-17-14-58-13.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2014-12-17-14-58-13.bag>`_ 797 s    204 MB EG
    79. 

  79. `b2-2015-02-16-12-26-11.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2015-02-16-12-26-11.bag>`_ 901 s    236 MB 1. OG
    80. 

  80. `b2-2015-02-16-12-43-57.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2015-02-16-12-43-57.bag>`_ 1848 s   475 MB 1. OG
    81. 

  81. `b2-2015-04-14-14-16-36.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2015-04-14-14-16-36.bag>`_ 1353 s   349 MB 1. OG
    82. 

  82. `b2-2015-04-14-14-39-59.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2015-04-14-14-39-59.bag>`_ 670 s    172 MB 1. OG
    83. 

  83. `b2-2015-04-28-13-01-40.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2015-04-28-13-01-40.bag>`_ 618 s    162 MB 1. OG
    84. 

  84. `b2-2015-04-28-13-17-23.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2015-04-28-13-17-23.bag>`_ 2376 s   613 MB 1. OG
    85. 

  85. `b2-2015-05-12-12-29-05.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2015-05-12-12-29-05.bag>`_ 942 s    240 MB 1. OG 2 gaps in laser data
    86. 

  86. `b2-2015-05-12-12-46-34.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2015-05-12-12-46-34.bag>`_ 2281 s   577 MB 1. OG 14 gaps in laser data
    87. 

  87. `b2-2015-05-26-13-15-25.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2015-05-26-13-15-25.bag>`_ 747 s    195 MB 1. OG
    88. 

  88. `b2-2015-06-09-14-31-16.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2015-06-09-14-31-16.bag>`_ 1297 s   336 MB 1. OG
    89. 

  89. `b2-2015-06-25-14-25-51.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2015-06-25-14-25-51.bag>`_ 1071 s   272 MB 1. OG
    90. 

  90. `b2-2015-07-07-11-27-05.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2015-07-07-11-27-05.bag>`_ 1390 s   362 MB 1. OG
    91. 

  91. `b2-2015-07-21-13-03-21.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2015-07-21-13-03-21.bag>`_ 894 s    239 MB 1. OG
    92. 

  92. `b2-2015-08-04-13-39-24.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2015-08-04-13-39-24.bag>`_ 809 s    212 MB 1. OG
    93. 

  93. `b2-2015-08-18-11-42-31.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2015-08-18-11-42-31.bag>`_ 588 s    155 MB UG
    94. 

  94. `b2-2015-08-18-11-55-04.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2015-08-18-11-55-04.bag>`_ 504 s    130 MB UG
    95. 

  95. `b2-2015-08-18-12-06-34.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2015-08-18-12-06-34.bag>`_ 1299 s   349 MB EG
    96. 

  96. `b2-2015-09-01-11-55-40.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2015-09-01-11-55-40.bag>`_ 1037 s   274 MB UG
    97. 

  97. `b2-2015-09-01-12-16-13.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2015-09-01-12-16-13.bag>`_ 918 s    252 MB EG
    98. 

  98. `b2-2015-09-15-14-19-11.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2015-09-15-14-19-11.bag>`_ 859 s    225 MB 1. OG
    99. 

  99. `b2-2015-11-24-14-12-27.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2015-11-24-14-12-27.bag>`_ 843 s    226 MB 1. OG
    100. 

  100. `b2-2016-01-19-14-10-47.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2016-01-19-14-10-47.bag>`_ 310 s    81 MB  1. OG
    101. 

  101. `b2-2016-02-02-14-01-56.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2016-02-02-14-01-56.bag>`_ 787 s    213 MB EG    1 gap in laser data
    102. 

  102. `b2-2016-03-01-14-09-37.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2016-03-01-14-09-37.bag>`_ 948 s    255 MB EG
    103. 

  103. `b2-2016-03-15-14-23-01.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2016-03-15-14-23-01.bag>`_ 810 s    215 MB EG
    104. 

  104. `b2-2016-04-05-14-44-52.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2016-04-05-14-44-52.bag>`_ 360 s    94 MB  1. OG
    105. 

  105. `b2-2016-04-27-12-31-41.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2016-04-27-12-31-41.bag>`_ 881 s    234 MB 1. OG
    106. 

  106. =================================================================================================================================== ======== ====== ===== ============================
    107. 

  107. 

  108. 3D Cartographer Backpack – Deutsches Museum
    109. 

  109. ===========================================
    110. 

  110. 

  111. This data was collected using a 3D LIDAR backpack at the
    112. 

  112. `Deutsches Museum <https://en.wikipedia.org/wiki/Deutsches_Museum>`_.
    113. 

  113. Each bag contains data from an IMU and from two Velodyne VLP-16 LIDARs,
    114. 

  114. one mounted horizontally (i.e. spin axis up) and one vertically
    115. 

  115. (i.e. push broom).
    116. 

  116. 

  117. License
    118. 

  118. -------
    119. 

  119. 

  120. Copyright 2016 The Cartographer Authors
    121. 

  121. 

  122. Licensed under the Apache License, Version 2.0 (the "License");
    123. 

  123. you may not use this file except in compliance with the License.
    124. 

  124. You may obtain a copy of the License at
    125. 

  125. 

  126. http://www.apache.org/licenses/LICENSE-2.0
    127. 

  127. 

  128. Unless required by applicable law or agreed to in writing, software
    129. 

  129. distributed under the License is distributed on an "AS IS" BASIS,
    130. 

  130. WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    131. 

  131. See the License for the specific language governing permissions and
    132. 

  132. limitations under the License.
    133. 

  133. 

  134. Data
    135. 

  135. ----
    136. 

  136. 

  137. ==================================================================================================================================================== ======== ====== ================================================
    138. 

  138. `ROS Bag <http://wiki.ros.org/Bags>`_                                                                                                                Duration Size   Known Issues
    139. 

  139. ==================================================================================================================================================== ======== ====== ================================================
    140. 

  140. `b3-2015-12-10-12-41-07.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2015-12-10-12-41-07.bag>`_                  1466 s   7.3 GB 1 large gap in data, no intensities
    141. 

  141. `b3-2015-12-10-13-10-17.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2015-12-10-13-10-17.bag>`_                  718 s    5.5 GB 1 gap in data, no intensities
    142. 

  142. `b3-2015-12-10-13-31-28.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2015-12-10-13-31-28.bag>`_                  720 s    5.2 GB 2 large gaps in data, no intensities
    143. 

  143. `b3-2015-12-10-13-55-20.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/with_intensities/b3-2015-12-10-13-55-20.bag>`_ 429 s    3.3 GB
    144. 

  144. `b3-2015-12-14-15-13-53.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2015-12-14-15-13-53.bag>`_                  916 s    7.1 GB no intensities
    145. 

  145. `b3-2016-01-19-13-26-24.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-01-19-13-26-24.bag>`_                  1098 s   8.1 GB no intensities
    146. 

  146. `b3-2016-01-19-13-50-11.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-01-19-13-50-11.bag>`_                  318 s    2.5 GB no intensities
    147. 

  147. `b3-2016-02-02-13-32-01.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-02-02-13-32-01.bag>`_                  47 s     366 MB no intensities
    148. 

  148. `b3-2016-02-02-13-33-30.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-02-02-13-33-30.bag>`_                  1176 s   9.0 GB no intensities
    149. 

  149. `b3-2016-02-09-13-17-39.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/with_intensities/b3-2016-02-09-13-17-39.bag>`_ 529 s    4.0 GB
    150. 

  150. `b3-2016-02-09-13-31-50.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-02-09-13-31-50.bag>`_                  801 s    6.1 GB no intensities
    151. 

  151. `b3-2016-02-10-08-08-26.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/with_intensities/b3-2016-02-10-08-08-26.bag>`_ 3371 s   25 GB
    152. 

  152. `b3-2016-03-01-13-39-41.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/with_intensities/b3-2016-03-01-13-39-41.bag>`_ 382 s    2.9 GB
    153. 

  153. `b3-2016-03-01-15-42-37.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-03-01-15-42-37.bag>`_                  3483 s   17 GB  6 large gaps in data, no intensities
    154. 

  154. `b3-2016-03-01-16-42-00.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-03-01-16-42-00.bag>`_                  313 s    2.4 GB no intensities
    155. 

  155. `b3-2016-03-02-10-09-32.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-03-02-10-09-32.bag>`_                  1150 s   6.6 GB 3 large gaps in data, no intensities
    156. 

  156. `b3-2016-04-05-13-54-42.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-04-05-13-54-42.bag>`_                  829 s    6.1 GB no intensities
    157. 

  157. `b3-2016-04-05-14-14-00.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/with_intensities/b3-2016-04-05-14-14-00.bag>`_ 1221 s   9.1 GB
    158. 

  158. `b3-2016-04-05-15-51-36.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/with_intensities/b3-2016-04-05-15-51-36.bag>`_ 30 s     231 MB
    159. 

  159. `b3-2016-04-05-15-52-20.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-04-05-15-52-20.bag>`_                  377 s    2.7 GB no intensities
    160. 

  160. `b3-2016-04-05-16-00-55.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-04-05-16-00-55.bag>`_                  940 s    6.9 GB no intensities
    161. 

  161. `b3-2016-04-27-12-25-00.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/with_intensities/b3-2016-04-27-12-25-00.bag>`_ 2793 s   23 GB
    162. 

  162. `b3-2016-04-27-12-56-11.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/with_intensities/b3-2016-04-27-12-56-11.bag>`_ 2905 s   21 GB
    163. 

  163. `b3-2016-05-10-12-56-33.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/with_intensities/b3-2016-05-10-12-56-33.bag>`_ 1767 s   13 GB
    164. 

  164. `b3-2016-06-07-12-42-49.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-06-07-12-42-49.bag>`_                  596 s    3.9 GB 3 gaps in horizontal laser data, no intensities
    165. 

  165. ==================================================================================================================================================== ======== ====== ================================================
    166. 

  166. 

  167. MiR
    168. 

  168. ===========================================
    169. 

  169. 

  170. This data was collected using `MiR100 <http://www.mobile-industrial-robots.com/de/products/mir100/>`_.
    171. 

  171. An additional Logitech Webcam C930e Full HD camera was attached on top to
    172. 

  172. collect images for landmark detection.
    173. 

  173. 

  174. License
    175. 

  175. -------
    176. 

  176. 

  177. Copyright 2018 The Cartographer Authors
    178. 

  178. 

  179. Licensed under the Apache License, Version 2.0 (the "License");
    180. 

  180. you may not use this file except in compliance with the License.
    181. 

  181. You may obtain a copy of the License at
    182. 

  182. 

  183. http://www.apache.org/licenses/LICENSE-2.0
    184. 

  184. 

  185. Unless required by applicable law or agreed to in writing, software
    186. 

  186. distributed under the License is distributed on an "AS IS" BASIS,
    187. 

  187. WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    188. 

  188. See the License for the specific language governing permissions and
    189. 

  189. limitations under the License.
    190. 

  190. 

  191. Data
    192. 

  192. ----
    193. 

  193. 

  194. ==================================================================================================================================================== ======== =======
    195. 

  195. `ROS Bag <http://wiki.ros.org/Bags>`_                                                                                                                Duration Size
    196. 

  196. ==================================================================================================================================================== ======== =======
    197. 

  197. `landmarks_demo_uncalibrated.bag <https://storage.googleapis.com/cartographer-public-data/bags/mir/landmarks_demo_uncalibrated.bag>`_                   180 s 41.7 MB
    198. 

  198. ==================================================================================================================================================== ======== =======
    199. 

  199. 

  200. PR2 – Willow Garage
    201. 

  201. ===================
    202. 

  202. 

  203. This is the Willow Garage data set, described in:
    204. 

  204. 

  205. * "An Object-Based Semantic World Model for Long-Term Change Detection and
    206. 

  206.   Semantic Querying.", by Julian Mason and Bhaskara Marthi, IROS 2012.
    207. 

  207. 

  208. More details about these data can be found in:
    209. 

  209. 

  210. * "Unsupervised Discovery of Object Classes with a Mobile Robot", by Julian
    211. 

  211.   Mason, Bhaskara Marthi, and Ronald Parr. ICRA 2014.
    212. 

  212. * "Object Discovery with a Mobile Robot" by Julian Mason. PhD Thesis, 2013.
    213. 

  213. 

  214. License
    215. 

  215. -------
    216. 

  216. 

  217. Copyright (c) 2011, Willow Garage
    218. 

  218. All rights reserved.
    219. 

  219. 

  220. Redistribution and use in source and binary forms, with or without
    221. 

  221. modification, are permitted provided that the following conditions are met:
    222. 

  222. 

  223. * Redistributions of source code must retain the above copyright
    224. 

  224.   notice, this list of conditions and the following disclaimer.
    225. 

  225. * Redistributions in binary form must reproduce the above copyright
    226. 

  226.   notice, this list of conditions and the following disclaimer in the
    227. 

  227.   documentation and/or other materials provided with the distribution.
    228. 

  228. * Neither the name of the <organization> nor the
    229. 

  229.   names of its contributors may be used to endorse or promote products
    230. 

  230.   derived from this software without specific prior written permission.
    231. 

  231. 

  232. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
    233. 

  233. ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
    234. 

  234. WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
    235. 

  235. DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY
    236. 

  236. DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
    237. 

  237. (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
    238. 

  238. LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
    239. 

  239. ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
    240. 

  240. (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
    241. 

  241. SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
    242. 

  242. 

  243. Data
    244. 

  244. ----
    245. 

  245. 

  246. ===================================================================================================================== =======================
    247. 

  247. `ROS Bag <http://wiki.ros.org/Bags>`_                                                                                 Known Issues
    248. 

  248. ===================================================================================================================== =======================
    249. 

  249. `2011-08-03-16-16-43.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-03-16-16-43.bag>`_ Missing base laser data
    250. 

  250. `2011-08-03-20-03-22.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-03-20-03-22.bag>`_
    251. 

  251. `2011-08-04-12-16-23.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-04-12-16-23.bag>`_
    252. 

  252. `2011-08-04-14-27-40.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-04-14-27-40.bag>`_
    253. 

  253. `2011-08-04-23-46-28.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-04-23-46-28.bag>`_
    254. 

  254. `2011-08-05-09-27-53.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-05-09-27-53.bag>`_
    255. 

  255. `2011-08-05-12-58-41.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-05-12-58-41.bag>`_
    256. 

  256. `2011-08-05-23-19-43.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-05-23-19-43.bag>`_
    257. 

  257. `2011-08-08-09-48-17.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-08-09-48-17.bag>`_
    258. 

  258. `2011-08-08-14-26-55.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-08-14-26-55.bag>`_
    259. 

  259. `2011-08-08-23-29-37.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-08-23-29-37.bag>`_
    260. 

  260. `2011-08-09-08-49-52.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-09-08-49-52.bag>`_
    261. 

  261. `2011-08-09-14-32-35.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-09-14-32-35.bag>`_
    262. 

  262. `2011-08-09-22-31-30.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-09-22-31-30.bag>`_
    263. 

  263. `2011-08-10-09-36-26.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-10-09-36-26.bag>`_
    264. 

  264. `2011-08-10-14-48-32.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-10-14-48-32.bag>`_
    265. 

  265. `2011-08-11-01-31-15.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-11-01-31-15.bag>`_
    266. 

  266. `2011-08-11-08-36-01.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-11-08-36-01.bag>`_
    267. 

  267. `2011-08-11-14-27-41.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-11-14-27-41.bag>`_
    268. 

  268. `2011-08-11-22-03-37.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-11-22-03-37.bag>`_
    269. 

  269. `2011-08-12-09-06-48.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-12-09-06-48.bag>`_
    270. 

  270. `2011-08-12-16-39-48.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-12-16-39-48.bag>`_
    271. 

  271. `2011-08-12-22-46-34.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-12-22-46-34.bag>`_
    272. 

  272. `2011-08-15-17-22-26.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-15-17-22-26.bag>`_
    273. 

  273. `2011-08-15-21-26-26.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-15-21-26-26.bag>`_
    274. 

  274. `2011-08-16-09-20-08.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-16-09-20-08.bag>`_
    275. 

  275. `2011-08-16-18-40-52.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-16-18-40-52.bag>`_
    276. 

  276. `2011-08-16-20-59-00.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-16-20-59-00.bag>`_
    277. 

  277. `2011-08-17-15-51-51.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-17-15-51-51.bag>`_
    278. 

  278. `2011-08-17-21-17-05.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-17-21-17-05.bag>`_
    279. 

  279. `2011-08-18-20-33-16.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-18-20-33-16.bag>`_
    280. 

  280. `2011-08-18-20-52-30.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-18-20-52-30.bag>`_
    281. 

  281. `2011-08-19-10-12-20.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-19-10-12-20.bag>`_
    282. 

  282. `2011-08-19-14-17-55.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-19-14-17-55.bag>`_
    283. 

  283. `2011-08-19-21-35-17.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-19-21-35-17.bag>`_
    284. 

  284. `2011-08-22-10-02-27.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-22-10-02-27.bag>`_
    285. 

  285. `2011-08-22-14-53-33.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-22-14-53-33.bag>`_
    286. 

  286. `2011-08-23-01-11-53.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-23-01-11-53.bag>`_
    287. 

  287. `2011-08-23-09-21-17.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-23-09-21-17.bag>`_
    288. 

  288. `2011-08-24-09-52-14.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-24-09-52-14.bag>`_
    289. 

  289. `2011-08-24-15-01-39.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-24-15-01-39.bag>`_
    290. 

  290. `2011-08-24-19-47-10.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-24-19-47-10.bag>`_
    291. 

  291. `2011-08-25-09-31-05.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-25-09-31-05.bag>`_
    292. 

  292. `2011-08-25-20-14-56.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-25-20-14-56.bag>`_
    293. 

  293. `2011-08-25-20-38-39.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-25-20-38-39.bag>`_
    294. 

  294. `2011-08-26-09-58-19.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-26-09-58-19.bag>`_
    295. 

  295. `2011-08-29-15-48-07.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-29-15-48-07.bag>`_
    296. 

  296. `2011-08-29-21-14-07.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-29-21-14-07.bag>`_
    297. 

  297. `2011-08-30-08-55-28.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-30-08-55-28.bag>`_
    298. 

  298. `2011-08-30-20-49-42.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-30-20-49-42.bag>`_
    299. 

  299. `2011-08-30-21-17-56.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-30-21-17-56.bag>`_
    300. 

  300. `2011-08-31-20-29-19.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-31-20-29-19.bag>`_
    301. 

  301. `2011-08-31-20-44-19.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-31-20-44-19.bag>`_
    302. 

  302. `2011-09-01-08-21-33.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-09-01-08-21-33.bag>`_
    303. 

  303. `2011-09-02-09-20-25.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-09-02-09-20-25.bag>`_
    304. 

  304. `2011-09-06-09-04-41.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-09-06-09-04-41.bag>`_
    305. 

  305. `2011-09-06-13-20-36.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-09-06-13-20-36.bag>`_
    306. 

  306. `2011-09-08-13-14-39.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-09-08-13-14-39.bag>`_
    307. 

  307. `2011-09-09-13-22-57.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-09-09-13-22-57.bag>`_
    308. 

  308. `2011-09-11-07-34-22.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-09-11-07-34-22.bag>`_
    309. 

  309. `2011-09-11-09-43-46.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-09-11-09-43-46.bag>`_
    310. 

  310. `2011-09-12-14-18-56.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-09-12-14-18-56.bag>`_
    311. 

  311. `2011-09-12-14-47-01.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-09-12-14-47-01.bag>`_
    312. 

  312. `2011-09-13-10-23-31.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-09-13-10-23-31.bag>`_
    313. 

  313. `2011-09-13-13-44-21.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-09-13-13-44-21.bag>`_
    314. 

  314. `2011-09-14-10-19-20.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-09-14-10-19-20.bag>`_
    315. 

  315. `2011-09-15-08-32-46.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-09-15-08-32-46.bag>`_
    316. 

  316. ===================================================================================================================== =======================
    317. 

  317. 

  318. Magazino
    319. 

  319. ========
    320. 

  320. 

  321. Datasets recorded on `Magazino robots <https://www.magazino.eu/?lang=en>`_.
    322. 

  322. 

  323. See the `cartographer_magazino <https://github.com/magazino/cartographer_magazino>`_
    324. 

  324. repository for an integration of Magazino robot data for Cartographer.
    325. 

  325. 

  326. See the ``LICENSE`` file in ``cartographer_magazino`` for details on the dataset
    327. 

  327. license. 
    328. 

  328. 

  329. Data
    330. 

  330. ----
    331. 

  331. 

  332. =================================================================================================================================== ======== ======== ============
    333. 

  333. `ROS Bag <http://wiki.ros.org/Bags>`_                                                                                               Duration Size     Known Issues
    334. 

  334. =================================================================================================================================== ======== ======== ============
    335. 

  335. `hallway_return.bag <https://storage.googleapis.com/cartographer-public-data/bags/toru/hallway_return.bag>`_                        350 s    102.8 MB
    336. 

  336. `hallway_localization.bag <https://storage.googleapis.com/cartographer-public-data/bags/toru/hallway_localization.bag>`_            137 s    40.4 MB
    337. 

  337. =================================================================================================================================== ======== ======== ============
    338.