The MIT Stata Center Dataset

M. Fallon, H. Johannsson, Michael Kaess and J.J. Leonard
Journal Article, Intl. J. of Robotics Research, IJRR, Vol. 32, No. 14, pp. 1695-1699, December, 2013

View Publication

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.


This paper presents a large scale dataset of vision (stereo and RGB-D), laser and proprioceptive data collected over an extended duration by a Willow Garage PR2 robot in the 10 story MIT Stata Center. As of September 2012 the dataset comprises over 2.3 TB, 38 h and 42 km (the length of a marathon). The dataset is of particular interest to robotics and computer vision researchers interested in long-term autonomy. It is expected to be useful in a variety of research areas— robotic mapping (long-term, visual, RGB-D or laser), change detection in indoor environments, human pattern analysis, long-term path planning. For ease of use the original ROS ‘bag’ log files are provided and also a derivative version combining human readable data and imagery in standard formats. Of particular importance, this dataset also includes ground-truth position estimates of the robot at every instance (to typical accuracy of 2 cm) using as-built floor-plans— which were carefully extracted using our software tools. The provision of ground-truth for such a large dataset enables more meaningful comparison between algorithms than has previously been possible.

author = {M. Fallon and H. Johannsson and Michael Kaess and J.J. Leonard},
title = {The MIT Stata Center Dataset},
journal = {Intl. J. of Robotics Research, IJRR},
year = {2013},
month = {December},
volume = {32},
number = {14},
pages = {1695-1699},
keywords = {Data paper, PR2, Willow Garage, laser, stereo, Simultaneous Localization and Mapping, mobile robotics, CSAIL, Stata, MIT},
} 2018-11-12T12:42:28-04:00