MHT Building RGB-D and laser dataset¶
The MHT building dataset was collected for purposes of testing RGB-D mapping of changing environments. The dataset consists of 2D (laser scanner) and 3D (Asus Xtion) data collected by a SCITOS-G5 mobile robot. We provide the gathered data in form of rosbags.
Dataset purpose¶
The intended use was to create a dataset to benchmark spatio-temporal representations of changing environments. The robot was patrolling a small office (see the video below) every 5 minutes. Each patrol started and ended at a charging station. During each patrol, the robot continuously collected its laser scans and odometric data. Moreover, it stopped at three different locations, took snapshots using its RGB-D sensor and attempted to detect people presence.
MHT office night collections with 3D sweeps |
Dataset structure¶
The provided archives contain rosbags, which are zipped into separate files according to the day of the data collection and data type. Each rosbag with a 3D prefix contains a depth/color image, camera information, robot position, tf data, laser scan and person detection gathered by the robot at a location and time that is encoded in the rosbag name, which contains day, month, year, hour, minute and location id. For example, 3D_23-08-13-15-20_place_2.bag contains data gathered at location 2 on August 23 2013 at 15:20 o’clock. Each rosbag with a 2D prefix contains AMCL position estimates, robot odometry, tf data and laser scans. Day, month, year, hour and minute are part of the bag file name.
Download¶
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Conditions of use¶
If you use the dataset for your research, please cite our paper that describes the data collection in detail. We attached a bibtex record for your convenience.
This dataset is part of the larger LCAS-STRANDS long-term dataset collection.
Original page: https://lcas.lincoln.ac.uk/owncloud/shared/datasets/mht_rgbd.html