Quadrotor 079 Freiburg 3D scan dataset
Quadrotor 079 Freiburg 3D scan dataset
This image shows the robot positions from which the scans
were taken on a 2D projected laser range map.
were taken on a 2D projected laser range map.
Download zip archive (145MB)
This dataset was captured in building 79 of the Department of Computer Science of the University of Freiburg, Germany. A flying quadrotor robot equipped with a 2D laser range finder captured a 3D scan by flying up and down again, accumulating the 2D scans using its own SLAM system. It contains 23 3D scans with 171608 points per scan on average. Each scan has an approximate usable angular resolution of 1.0deg. The length of the trajectory is 79.1m.
Have a look at the README.txt for information about the formatting of the files etc..
Licence
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
steder@informatik.uni-freiburg.de
University of Freiburg
Dept. of Computer Science
Autonomous Intelligent Systems
Georges-Koehler-Allee 079
D-79110 Freiburg
Germany