Acquired data: regular and omni-directional images (synchronized), laser range scans, odometry
Sequences acquired in 14 rooms belonging to 8 room categories.
Total number of sequences: 26
Acquisition was performed separately in two different parts of the same
office environment (part A and part B).
In each part, the robot roughly followed two different paths: standard
(consisting of rooms that are most likely to be found in most typical office
environments) and extended (additionally containing rooms that were specific to this
environment or its part).
Short video presenting the acquisition process of the COLD-Freiburg dataset can be found below:
This video can also be downloaded as an MPEG file.
Maps of the two parts of the laboratory in Freiburg with approximate paths followed by the
robot during data acquisition can be found below. The standard path is represented with blue dashes and the
extended path is represented with red dashes. Arrows indicate the direction in which the
robot was driving. Click on the map to download a version in the PDF format.