Publication
A Benchmark Dataset for Data Association
J. Kurlbaum; Udo Frese
SFB/TR 8, SFB/TR 8 Technical Report, Vol. 017-02/2009, 2009.
Abstract
In this technical report we present a data set which can be used by researchers to test and compare their
algorithms related to feature-based SLAM and in particular data association tasks. The data set covers a large
path mostly through an indoor office environment with artificial and natural landmarks. It provides odometry
and geometrical results from computer vision-based landmark detection, as well as raw images and camera
calibration data. The artificial landmarks are white discs on the floor where the position relative to the robot is
provided as measurement. The natural landmarks are vertical lines where only the bearing relative to the robot
is provided and data association is remarkably difficult.
This technical report provides full information about experimental setup, model and measurement functions.
The focus of this data set is on data association and for comparison of different approaches we provide full
ground truth by annotating all features.