MARS Map Dataset

Dataset for

Advanced Mapping Robot and High-Resolution Dataset

• Sample Dataset (2.9 seconds from MARS-8, so about 28 images per camera; 470MB)
• MARS-8 (17GB)
• MARS-Loop 1 (7GB) 2 (37GB) 3 (7GB) (you need all 3 bagfiles)
• MARS-NoLoop 1 (7GB) 2 (20GB) 3 (20GB) 4 (5GB) (you need all 4 bagfiles)

Ground truth data:

• 3D FARO raw scandata (2.3GB)
• 3D FARO subsampled PLY (212MB)
• Cloudcompare File with FARO and BLAM data (126MB; subsampled) 
• 2D ground truth png map (1cm resolution) (34kB)
• Ground truth paths (timestamp tx ty tz qx qy qz qw):
  • MARS-8 
  • MARS-Loop 1 3
  • MARS-NoLoop 1 4

Models:

• MARS Mapper Description ROS package
• The rqt_graph output (missing all cameras and one of the velodyne sensors)

Reproducable Mapping:

• 2D Grid Mapping
  • Hector SLAM 
  • Cartographer
• 3D Point Cloud Mapping:
  • BLAM
• 3D colored Point Cloud Mapping:
  • BLAM_colored
• visual SLAM
  • ORB2 
  • ORB2-stereo
• Downsampling package for Velodyne

Reproducable Evaluation:

• Evaluation Scripts

2D Map of the lab

BLAM Mapping Videos (Horizonal Velodyne):

MARS-8:

MARS-Loop:

MARS-NoLoop: