An Indoor RGB-D Dataset for the Evaluation of Robot Navigation Algorithms

  • Adam Schmidt
  • Michał Fularz
  • Marek Kraft
  • Andrzej Kasiński
  • Michał Nowicki
Part of the Lecture Notes in Computer Science book series (LNCS, volume 8192)

Abstract

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.

Keywords

robot navigation SLAM benchmark dataset Kinect RGB-D 

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Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Adam Schmidt
    • 1
  • Michał Fularz
    • 1
  • Marek Kraft
    • 1
  • Andrzej Kasiński
    • 1
  • Michał Nowicki
    • 1
  1. 1.Institute of Control and Information EngineeringPoznan University of TechnologyPoland

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