2019
DISCOMAN: Dataset of Indoor SCenes for Odometry, Mapping And Navigation
Pavel Kirsanov, Airat Gaskarov, Filipp Konokhov, Konstantin Sofiiuk, Anna Vorontsova, Igor Slinko +4
IROS 2019poster
We present a novel dataset for training and benchmarking semantic SLAM methods. The dataset consists of 200 long sequences, each one containing 3000-5000 data frames. We generate the sequences using realistic home layouts. For that we sample trajectories that simulate motions of a simple home robot,…