Sample Datasets

These article points to datasets that can be used with maplab and ROVIOLI.

CLA dataset (from the paper)

Description | Rosbag |VI map ——–|:——:|:–: Calibration data for CLA rosbags | Link | - CLA floor F for map building | Link | Link CLA floor G for map building | Link | Link CLA floor H for map building | Link | Link CLA floor J for map building | Link | Link CLA floor F for localization | Link | - Merged and optimized VI map of CLA floors F, G, H and J | - | coming soon

Zurich old town dataset (from the paper)

Description | Type |Link ——–|——|– Optimized map | VI map | Link

EuRoC MAV datasets (from the paper)

Description | Rosbag | VI map (unoptimized) | VI map for reconstruction (with images) —–|:—:|:—:|:—-: MH01 | Link | Link | Link MH02 | Link | Link | Link MH03 | Link | Link | Link

Rosbags for the other EuRoC datasets can be downloaded from here.