We provide sets of relative relations needed to compute our metric for an extensive set of datasets frequently used in the robotics community. The relations have been obtained by manually matching laser-range observations to avoid the errors caused by matching algorithms.
We gratefully thank all the people that have made their datasets publicly available on Radish: The Robotics Data Set Repository. These datasets are available under the Creative Commons Attribution License.
In addition to the indoor datasets, we provide an outdoor dataset. The outdoor dataset and the manually obtained relations for all the datasets are available under the Creative Commons Attribution License.

Dataset: ACES Building (Austin)
The raw log data was provided by Patrick Beeson.

Dataset: Intel Research Lab (Seattle)
The raw log data was provided by Dirk Hähnel.

Dataset: 2 MIT Killian Court (2D)
The raw log data was provided by Mike Bosse and John Leonard.

Dataset: MIT CSAIL Building
The raw log data was provided by Cyrill Stachniss.

Dataset: Freiburg Indoor Building 079
The raw log data was provided by Cyrill Stachniss.

Dataset: Freiburg University Hospital (3D)
The raw log data was provided by Bastian Steder, Rainer K├╝mmerle, Christian Dornhege, Michael Ruhnke, Cyrill Stachniss, Giorgio Grisetti, and Alexander Kleiner.
The complete logfile contains all the raw data recorded on a PowerBot platform.
  • Odometry
  • Two SICK laser range finder
  • Xsens MTi IMU
  • PowerCube wrist unit (used as PTU for one laser)