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Title:

OGM2PGBM

Document type:
Forschungsdaten
Publication date:
29.07.2024
Responsible:
Vega-Torres, Miguel A.
Authors:
Vega-Torres, Miguel A.; Braun, Alexander; Borrmann, André
Author affiliation:
TUM
Publisher:
TUM
Identifier:
doi:10.14459/2024mp1749236
End date of data production:
01.08.2022
Subject area:
BAU Bauingenieurwesen, Vermessungswesen; DAT Datenverarbeitung, Informatik; TEC Technik, Ingenieurwissenschaften (allgemein)
Resource type:
Simulationen / simulations; Abbildungen von Objekten / image of objects
Data type:
Bilder / images ; mehrdimensionale Visualisierungen oder Modelle / models
Other data type:
ROS Bag files (ROS1); 2D Occupancy grid maps in .pgm format with their respective .yaml file; 3D map in .obj format.
Description:
The OGM2PGBM TUM CMS LiDAR long-term indoor localization dataset comprises raw LiDAR scan data simulated on a model of the offices at the Technical University of Munich, along with their corresponding 3D and 2D reference maps. The datasets were meticulously created using the Gazebo simulation engine, ensuring complete coverage of the space, as described in this paper
The dataset consists of six sequences, simulated in three different environments. Each environment introduces varying lev...     »
Method of data assessment:
The dataset was generated using the Gazebo simulation engine, simulating the properties of the RS-16 3D LiDAR.
Links:
Related publication: https://doi.org/10.48550/arXiv.2308.05443
Key words:
LiDAR; Localization; SLAM; OGM; BIM
Technical remarks:
View and download (31,2 GB total, 11 Files)
The data server also offers downloads with FTP
The data server also offers downloads with rsync (password m1749236):
rsync rsync://m1749236@dataserv.ub.tum.de/m1749236/
Language:
en
Rights:
by-nc, http://creativecommons.org/licenses/by-nc/4.0
Horizon 2020:
INTREPID Horizon 2020 Grant agreement ID: 883345
 BibTeX