Data Set htwddKogRob-TSDChangesSim for Localization and Lifelong Mapping

This data sets offers log files taken in an severely changed indoor environment with 18 dynamic obstacles. The changes from the original map to the simulated world are highlighted in the figure. The total driven distance in this data set is 179.8 km.

How to use

Within the zip archives are ascii files containing logs of robot observation and robot poses. If this data set was recorded in a simulated environment, the log contains an altered raw pose as well as a ground truth pose.
You can find more information in the log files header. To offer some help parsing the files, we give two Java-code snippets:

Laser Range Measurements:
        <sub>List<Double> ranges = new ArrayList<>(numOfLaserRays);
        List<Error> errors = new ArrayList<>(numOfLaserRays);

        String s = line.substring(4);
        String delimiter = "()";
        StringTokenizer tokenizer = new StringTokenizer(s, delimiter);
        
        while(tokenizer.hasMoreElements()){
            String[] arr = tokenizer.nextToken().split(";");
            boolean usable = (arr[0].equals("0")?false:true);
            double range = Double.parseDouble(arr[1]);
            
            ranges.add(range);
            errors.add(usable?Error.OKAY:Error.INVALID_MEASUREMENT);
        }</sub>

Poses:
        _{String poseString = line.split(":")[2];
        String[] elements = poseString.substring(1, poseString.length()-1).split(";");
        double x = Double.parseDouble(elements[0]);
        double y = Double.parseDouble(elements[1]);
        double phi = Double.parseDouble(elements[2]);}

Reference

If you want to use this dataset in your own publication, please use the provided bibtex below:

_{@misc{htwddKogRobTSDChangesSim2015,
  title = {Data Set htwddKogRob-TSDChangesSim for Localization and Lifelong Mapping},
  author = {Bahrmann, Frank},
  howpublished = {\url{http://www.htw-dresden.de/\~kogrob/datasets/htwddKogRob-TSDChangesSim/}},
  year = {2015},
  publisher = {University of Applied Sciences Dresden, Artificial Intelligence and Cognitive Robotics Labs},
}}

Copyright

These datasets are made available under the Open Data Commons Attribution License:
http://opendatacommons.org/licenses/by/1.0/