Acquired data: regular and omni-directional images (synchronized), odometry
Sequences acquired in 6 rooms belonging to 6 room categories.
Total number of sequences: 18
Only one part of the environment was considered (part A).
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).
Short video presenting the acquisition process of the COLD-Ljubljana dataset can be found below:
This video can also be downloaded as an MPEG file.
Map of the laboratory in Ljubljana 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.