Maps
This page contains some SLAM-generated maps of places where we run the robots, e.g., Willow Garage and the Gates building. The goal is locally accumulate maps that we use regularly.
This page is not intended as a place to gather datasets for general testing of SLAM. For that purpose, see:
Willow (Erratic/TOP-URG/Karto)
Description: complete map of the Willow Garage building
Author: Kurt Konolige
Date: 2008-05-14
Resolution: various
Hardware: Erratic + Hokuyo TOP-URG
Software: Player to log data, then Karto for SLAM
Notes on data:
- Data is in XML log format, readable by Karto
- Original data was translated from Player log format to Karto XML format.
- Laser scans were pose-stamped with interpolated odometry (using Player's laserposeinterpolator driver)
- Original Hokuyo data was used: 1/4 deg resolution, 282 degree scan
Willow (Erratic/TOP-URG/GMapping)
Description: complete map of the Willow Garage building
Author: Brian Gerkey
Date: 2008-04-30
Resolution: various
Hardware: Erratic + Hokuyo TOP-URG
Software: Player to log data, then GMapping for SLAM
Notes on data:
- Data is in CARMEN log format, readable by GMapping and other CARMEN-related tools
- Original data was translated from Player log format to CARMEN log format by Player's playerlog2carmenlog.py utility.
- Laser scans were pose-stamped with interpolated odometry (using Player's laserposeinterpolator driver)
- Original Hokuyo data was rescanned from its native aperture and resolution to 180-degree FOV, 1-degree resolution (using Player's laserrescan driver)
Gates (Unknown)
Description: map of Gates Building, 1st floor
Author: ??
Date: ??
Resolution: 0.1m / pixel
Hardware: ??
Software: ??
