A collection of outdoor robotic datasets with centimeter-accuracy ground truth

@article{Blanco2009ACO,
  title={A collection of outdoor robotic datasets with centimeter-accuracy ground truth},
  author={Jos{\'e} L Blanco and Francisco Angel Moreno and Javier Gonz{\'a}lez},
  journal={Auton. Robots},
  year={2009},
  volume={27},
  pages={327-351}
}
The lack of publicly accessible datasets with a reliable ground truth has prevented in the past a fair and coherent comparison of different methods proposed in the mobile robot Simultaneous Localization and Mapping (SLAM) literature. Providing such a ground truth becomes specially challenging in the case of visual SLAM, where the world model is 3-dimensional and the robot path is 6-dimensional. This work addresses both the practical and theoretical issues found while building a collection of… CONTINUE READING
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