Long-term indoor dataset

This dataset contains laser scans, odometry, and AMCL results of a SCITOS-G5 robot which was roaming an indoor environment for more than 100 days. The robot served as an info-terminal, assistant-therapist and bellboy in a care home in Vienna for from November 2016 to April 2017, covering autonomously over 100km.

Map of the AAF environment

Dataset structure and download

The data, which are organised in archive files of one-day length are available here. Moreover, the events, when the robot got mislocalised, are here. The overall report on the robot navigation activity at the AAF is available in as a google doc spreadsheet

Condition of use

If you use the dataset for your research, please cite our paper, for which we originally collected the data. We attached a bibtex record for your convenience.

This dataset is part of the larger LCAS-STRANDS long-term dataset collection.