Robotic 3D Scan Repository

by Johannes Pellenz (WTD 51, Koblenz, Germany), Frank Neuhaus, Denis Dillenberger and Dagmar Lang (Active Vision Group, University of Koblenz-Landau, Germany).

This data set was recorded using a Velodyne HDL-64E S2 during the Response Robot Evaluation Exercise in March 2010 in Disaster City, College Station, Texas (USA). The Velodyne 3D LRF data was captured with 10 Hz, the IMU data with 100 Hz, the GPS data with 1 Hz and the camera data with 30 Hz (MJPG compressed). The dataset features several loops around Disaster City (on roads and through rough terrain with slopes). The full logfile is available in the Koblenz file format, containing all the above mentioned sensor data.

Acknowledgements: We thank Robert Bolling and Chris Scrapper from The MITRE Corporation for providing the robot Centaur and the sensors.

by Johannes Pellenz, and Dagmar Lang (Active Vision Group, University of Koblenz-Landau, Germany).

This data set was recorded using a Velodyne HDL-64E S2 at the University Campus of Koblenz. Apart from the Velodyne LRF, the following sensors were mounted onto the car and recorded: front, left, right camera (Philips SPC 1330 NC, 640x480, 30fps, MJPG compressed), xSens MT-i IMU, Navilock USB GPS Receiver, Speed information delivered by an OBD device attached to the car. The car drove two laps around the university campus. The data set is available in two formats:

1. The scans of one Velodyne revolution per second, following the data format used in Osnabrück.
2. The full logfile in Koblenz file format, containing all the above mentioned sensor data. This file format is specified in the README file.

by Dorit Borrmann, and Jan Elseberg from Jacobs University Bremen gGmbH, Germany.

This data set was recorded using a Riegl VZ400 Scanner in the city center of Bremen. The single 3D scans have been initally merged using markers as tiepoints, but the result can be improved using slam6D. In the following linked pdf-files the changes are visable ([PDF] Riegl markers as tie points, [PDF] slam6D matching. You can download the complete data set. Furthermore, we provide a README file and the final poses are computed by slam6D.

by Stefan Fuchs, Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Germany.

This data set was recorded using a Swissranger in a controlled environment in the Institute of Robotics and Mechatronics at the German Aerospace Center (DLR). The data set contains filtered 3D point clouds as well as initial start guesses computed via feature matching using the reflectance images. The files are converted into slam6D files. You can download the complete data set.

The the data set above contains filteres data, please consult Stefan Fuchs' webpage for the original data. The data was acquired using a KUKA manipulator moving on a circular path with a diameter of 180mm. The 180 files contain the complete loop, thus featuring steps of 2 degree.

by Martin Magnusson, AASS, Örebro University, Sweden.

This data set was recorded in the AASS building. It contains 60 3D scans in wrl format. The archive contains a README-file and a pose file for the scans. You can download the complete data set.

by Oliver Wulf, Leibniz University, Hannover, Germany.

This data set was recorded at the University Campus. It contains 924 3D scans, covering a trajectory of about 1.24 km. Each 3D scan contains approx. 16,600 data points. The single 3D scans as well as initial pose estimates are given. You can download the complete data set. Please refer to README for further information about the file formats.

by Oliver Wulf, Leibniz University, Hannover, Germany.

This data set was recorded at the University Campus. It contains 468 3D scans, each with approx. 20,000 data point. The single 3D scans as well as initial pose estimates are given. You can download the complete data set or parts of it. Please refer to the file README for further information about the file formats.

by Andreas Nüchter and Kai Lingemann, University of Osnabrück, Germany.

This data set was recorded at Dagstuhl castle, during the workshop Towards Affordance-Based Robot Control. It contains 82 3D scans, each with 81,360 data point. The single 3D scans and a precise 6D pose information are given. You can download the complete data set or parts of it. Please refer to the file README for further information about the file formats.

by Martin Magnusson (AASS, Örebro, Sweden), Andreas Nüchter (University of Osnabrück, Germany) and Christopher Lörken (University of Osnabrück, Germany).

This data set was recorded at the Kvarntorp mine, near to Örebro, Sweden. It contains the data of 4 independent robot runs with over 250 3D scans, each with 81,360 data points. The single 3D scans and a pose estimte by odometry (2D) are given. You can download the complete data set. Please refer to the file README for further information about the file formats.

by Dorit Borrmann, Jan Elseberg, Andreas Nüchter, and Kai Lingemann (all University of Osnabrück, Germany).

This data set was recorded at the AVZ building of University of Osnabrück, Germany. It contains the data of 63 3D scans, each with 81.360 data points. The single 3D scans and a pose estimte by odometry (2D) are given. You can download the complete data set, including a readme file. It contains two closed loops.

by Johannes Pellenz, and Peter Schneider (University of Koblenz-Landau, Germany).

This data set was recorded during the RoboCup Rescue Competition 2008 in SUZHOU CHINA. The format follows the convention used in Osnabrück, so please see readme for a format description. You can download the complete data set

by Hartmut Surmann (Fraunhofer IAIS, Sankt Augustin, Germany), Andreas Nüchter (University of Osnabrück, Germany) and Kai Lingemann (University of Osnabrück, Germany).

This data set was recorded at the Fraunhofer Campus Sankt Augustin, Germany. It contains the data of 76 3D scans, each with 81.360 data point. The single 3D scans and a pose estimte by odometry (2D) are given. You can download the complete data set. Please refer to the file README for further information about the file formats.

by Andreas Nüchter University of Osnabrück, Germany.

This data set was recorded at the University of Osnabrück, Germany. It contains 29 3D scans and each 3D scan was recorded with remission values. This value quantifies the amount of light that was returned to the scanner, i.e., a grey value. This data set has been used to evaluate object detection functions. You can download the complete data set. Please refer to the file README for further information about the file formats.

by Andreas Nüchter University of Osnabrück, Germany.

This data set was recorded at the Fraunhofer Campus Sankt Augustin, Germany. It contains 100 3D scans of one or two human and each 3D scan was recorded with remission values. This value quantifies the amount of light that was returned to the scanner, i.e., a grey value. This data set has been used to learn the 3D object human. You can download the complete data set. Please refer to the file README for further information about the file formats.