Dataset for Joint Self-Localization and Tracking of Generic Objects in 3D Range Data

Here, you can find the datasets used for evaluation of the proposed tracking/mapping method. All were recorded with the Velodyne HDL64E-S2 scanner in the city of Karlsruhe, Germany.

Dataset - Mapping

The used datasets correspond to the datasets of the VelodyneSLAM paper. They can be found here.

Dataset - Tracking

Two datasets were used, one for quantitative evaluation, one for qualitative evaluation.
The following zip files include everything you need (including a description of the data format).
Tools for viewing / converting the data can be found here.
The complete development source code can be found here.

• Scenario A
• Scenario A - additional sensor data
• Scenario B
• Scenario B - additional sensor data

This data can be freely used with one restriction: In case it is used for scientific publication you are required to cite the ICRA publication (see here).

Results

The tracking results for both scenarios:

• Results Scenario A
• Results Scenario B

Contact

If you have any questions or comments, feel free to contact me
http://www.mrt.kit.edu/mitarbeiter_moosmann.php