Dataset: Hierarchical Topometric Representation of 3D Robotic Maps

Hierarchical Topometric Representation of 3D Robotic Maps
Zhenpeng He, Hao sun, Jiawei Hou, Yajun Ha, and Sören Schwertfeger 

Dataset 1 & 2 (146 MB)
Dataset 2-6: https://www.ifi.uzh.ch/en/vmml/research/datasets.html

2D maps (0.8 MB)