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Freiburg Campus 360 degree 3D scans

This image shows the robot trajectory and the positions from which the scans
were taken as an overlay on a Google Earth© image.

Download zip archive (145MB)

This dataset was acquired on the campus of the Faculty of Engineering, University of Freiburg, Germany (79110 Freiburg, Georges-Koehler-Allee). It was captured using a wheeled robot equipped with a SICK LMS laser range scanner mounted on a pan-tilt unit. The pan-tilt unit was moved to acquire a 360 degree view of the surrounding. The scans were obtained in a stop-and-go fashion and it took our platform about 25s to capture a scan. The dataset contains 77 3D scans captured along a 723m long trajectory. The average distance between the captured scans was about 10m. Each scan consists of 150,000-200,000 points.

Have a look at the README.txt for information about the formatting of the files etc..

This dataset is made available under the Creative Commons Attribution Licence 3.0: the licensor permits others to copy, distribute, display, and perform the work. In return, licensees must give the original author credit. See http://creativecommons.org/licenses/by/3.0 By way of attribution, please include an acknowledgement and/or citation for any results published using this dataset.

Contact Information
Bastian Steder
University of Freiburg
Dept. of Computer Science
Autonomous Intelligent Systems
Georges-Koehler-Allee 079
D-79110 Freiburg
Benutzerspezifische Werkzeuge