An Indoor RGB-D Dataset for the Evaluation of Robot Navigation Algorithms
The paper presents a RGB-D dataset for development and evaluation of mobile robot navigation systems. The dataset was registered using a WiFiBot robot equipped with a Kinect sensor. Unlike the presently available datasets, the environment was specifically designed for the registration with the Kinect sensor. Moreover, it was ensured that the registered data is synchronized with the ground truth position of the robot. The presented dataset will be made publicly available for research purposes.
Keywordsrobot navigation SLAM benchmark dataset Kinect RGB-D
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