The COBRA Heterogenous Multiple-robot Localization and Mapping Dataset

This paper presents a heterogenous, twodimensional and three-dimensional, single-robot and multiplerobot localization and mapping dataset. The dataset is collected with educational and research purposes: to save time in dealing with hardware and to compare the results with a benchmark dataset. The data is collected in standard Robot Operating System (ROS) format. The environments, robots, and sensors configurations are explained in detail. Highly accurate blueprints of the environments or Vicon positioning are available as ground truth. The dataset is available for download.