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Data Set htwddKogRob-TSDChangesSim for Localization and Lifelong Mapping


Highlighted environment changes

This data sets offers log files taken in an severely changed indoor environment with 18 dynamic obstacles. The changes from the original map to the simulated world are highlighted in the figure. The total driven distance in this data set is 179.8 km.

How to use

Within the zip archives are ascii files containing logs of robot observation and robot poses. If this data set was recorded in a simulated environment, the log contains an altered raw pose as well as a ground truth pose.

You can find more information in the log files header. To offer some help parsing the files, we give two Java-code snippets:

Laser Range Measurements:

        List<Double> ranges = new ArrayList<>(numOfLaserRays);
        List<Error> errors = new ArrayList<>(

        String s = line.substring(4);
        String delimiter = "()";
        StringTokenizer tokenizer = new StringTokenizer(s, delimiter);
            String[] arr = tokenizer.nextToken().split(";");
            boolean usable = (arr[0].equals("0")?false:true);
            double range = Double.parseDouble(arr[1]);


        String poseString = line.split(":")[2];
        String[] elements = poseString.substring(1, poseString.length()-1).split(";");
        double x = Double.parseDouble(elements[0]);
        double y = Double.parseDouble(elements[1]);
        double phi = Double.parseDouble(elements[2]);


If you want to use this dataset in your own publication, please use the provided bibtex below:

  title = {Data Set
htwddKogRob-TSDChangesSim for Localization and Lifelong Mapping},
  author = {Bahrmann, Frank},
  howpublished = {\url{http://www.htw-dresden.de/\~kogrob/datasets/
  year = {2015},
  publisher = {University of Applied Sciences Dresden, Artificial Intelligence and Cognitive Robotics Labs},


Ground Truth Map
This map is the ground truth map of the dataset. The simulation runs were performed with this. (gridcell size 0.1m)
Prior Knowledge Map
This map represents old prior knowledge that was gathered in the past. (gridcell size 0.1m)
runs 1 - 20
(9.6 GB)
runs 21 - 40
(5.7 GB)
runs 41 - 56
(5.0 GB)


These datasets are made available under the Open Data Commons Attribution License:


Aktualisiert: 11.10.2016