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Source Code
Our source code is published under BSD license at:
Datasets
This page gives an overview over all available ITI dataset recordings. You find detailed information as well as the download links for the test sequences. For the videos we choose a speed up of 10 to give a short impression of the test sequence. For robust positioning the Kinect was mounted upside down on the robot.
ITI4_1 Recording
Overview
- Path Length: 230m
- Duration: 466s
- One loop closure at the end
Description
The iti4_1 recording contains a large loop around second floor of the computer science building.
Download Links
ITI4_2 Recording
Overview
- Path Length: 302m
- Duration 708s
- Multiple loop closures
Description
The ITI4_2 recording contains large parts of the hallway and our labs, as well as a conference room. There exist multiple loop closures in our kitchen.
Download Links
ITI4_3 Recording
Overview
- Path Length: 331m
- Duration: 693s
- Two loop closures
Description
The ITI4_3 recording starts in our kitchen. From the kitchen the robot was driven through our lab back into the kitchen. Afterwards the robot is driven around the second floor of the computer science building by passing the conference room.
