Institut de Robòtica
i Informàtica Industrial

This Dataset includes sensor data, calibration files, Matlab code and cad files of the environment.

Download an Evaluation Dataset or the entire dataset which is available in a single file or in multiple files divided by sensors and experiment days.

Evaluation Dataset

1. Download and extract the evaluation dataset

2. Go to the folder BRL/code/matlab and run the examples.

• Evaluation dataset (102 MB).

Full Dataset

• BRL Full Dataset (6.4 GB)

Multiple files

Code

• Matlab code (50 KB)

Calibration

• Calibration files (50 KB )

Data set by sensor and experiment day

The environment:

• Barcelona Robot Lab obj file (475 KB)
• Barcelona Robot Lab osg file (388 KB)

Camera network:

• camera network day 1 (599 MB)
• camera network day 2 (451 MB)

Robot sensors:

• odometry day 1 (1.4 MB)
• odometry day 2 (0.77 MB)
• motion commands day 1 (481 KB)
• motion commands day 2 (7 KB)
• TCM3 compass day 1 (8.9 MB)
• TCM3 compass day 2 (4.7 MB)
• 3d range laser day 1 (749 MB)
• 3d range laser day 2 (467 MB)
• stereo images day 1 (2.5 GB)
• stereo images day 2 (1.5 GB)
• stereo camera calibration images(107 MB)
• 3d laser + cameras calibration data (39 MB)