• Data from the laser scanner (Loop1.zip 5.2 MB), images from the omnidirectional camera (JPG, 69.6 MB) and image capture time (text file).
  
• Data from the laser scanner (Loop2.zip 1.9 MB), images from the omnidirectional camera (JPG, 23.1 MB) and image capture time (text file).
• The attached file readdata.m includes a Matlab routine illustrating how to read the loop1 and loop2 data files.
   
  

• Data from the laser scanner (Loop3.zip 32.2 MB), images from the tri-camear system (JPG 407.0 MB) and image capture time (text file). Note that the file format of Loop 3 is different from Loop 1 and Loop 2.
  

If you make use of any of these datasets, please include this reference in your publications:

Text Reference:
C.-C. Wang, D. Duggins, J. Gowdy, J. Kozar, R. MacLachlan, C. Mertz, A. Suppe and C. Thorpe. Navlab SLAMMOT Datasets. Carnegie Mellon University, 2004.

BibTex Reference:
@Misc{NavlabDataSets,
  title =  {Navlab SLAMMOT Datasets},
  author =  {Chieh-Chih Wang and David Duggins and Jay Gowdy and John Kozar and Robert MacLachlan and Christoph Mertz and Arne Suppe and Charles Thorpe},
  howpublished = {www.csie.ntu.edu.tw/\~{}bobwang/datasets.html},
  month =        {May},
  year =         {2004},
  note =         {Carnegie Mellon University} ,
}

Copyright 2001-2004 by Carnegie Mellon University. All rights reserved.

Developed by the members at the Navlab group, the Robotics Institute, 
Carnegie Mellon University, Pittsburgh, PA, U.S.A. 

Permission to use, copy, modify, publicly display and distribute these 
datasets is hereby granted without fee provided that (i) all use of the 
images is solely for educational and research purposes; (ii) all 
distribution of the datasets is at no-cost, except for recovery of cost 
of the media; and (iii) the copyright notice and the authors name(s) 
appear on all copies, and this permission notice is included with each 
distribution. You may also publish the datasets in scholarly journals 
to report research results without further permission from Carnegie 
Mellon University. Any other commercial distribution or publication of 
the datasets, in original or modified form, requires the prior written 
permission of Carnegie Mellon University. The name of Carnegie Mellon 
University, the Robotics Institute and/or the Navlab group may not be 
used in advertising or publicity without the prior written permission 
of Carnegie Mellon University.

• Radish: The Robotics Data Set Repository.
• ACFR SLAM datasets.
• KTH SLAM datasets.
• Dirk Haehnel's data sets.