Shopping mall dataset captured by a traversing robot

As part of our project we observed a real environment through continuous robot observations.

A sensor mounted robot was manually driven in "Temposan" shopping mall in Osaka-ko, Osaka, Japan. and recorded following data set. The shopping mall covers an area of approximately 80 x 100 m2.

Top view of the environment from second floor
[Top view of the environment from second floor]

During each recording the robot started at the same location and returned to the same location after traversing the environment.

Robot and Sensors

The robot was a Pioneer P3-DX robot equipped with a 3D laser radar sensor (Velodyne HDL-32E) and an IMU (Memsic VG440) sensor.

Velodyne sensor
[Velodyne sensor]

Sensor mounted robot
[Sensor mounted robot]

Dataset

In the dataset each data log is a standard ros-bag file which could be replayed with a stable version of robot operating system (ROS). The data logs were recorded in ROS-INDIGO.

Replaying data in ROS.
[Replaying data in ROS.]

Sensor mounted robot operating in the environment
[Sensor mounted robot operating in the environment]

The dataset is split into 7 independent logs each consisting of one traversal. The files are big ( > 10 GB), so downloading might take a while.

Reference to the logs and their size

THU_01->13.7GB

THU_02->12.5GB

FRI_01->15.6GB

FRI_02->14.5GB

FRI_03->15.3GB

SAT_01->13.7GB

SAT_02->12.3GB

You can find more details about the system in the reference paper below.

[To be updated ....]

License

The dataset is free to use for research purposes only.

In case you use the datasets in your work please be sure to cite the reference paper below.

[When the reference paper is unavailable please refer to this page]

Reference

[To be updated .....]

Inquiries and feedback

For any questions concerning the datasets please contact: