This is the dataset used for SpCoMapping.
We used SIGVerse which is the simulation environment of the daily living environment.
For each environment, we did three trials.
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/map: The occupied grid map for each environment. -
/room*: The dataset used for SpCoMapping/room*/img_*: The directory including obtained image/room*/1_*.ppm: The occupied grid map
The colored pixels means the robot obtained vocabularies on that pixel./room*/2_*.ppm: The occupied grid map
The colored pixels means the robot obtained image feature on that pixel./room*/Ft.csv: The list of image feature/room*/pose_*.csv: The list of the robot's pose/room*/St.csv: The list of vocabulary/room*/StXtx.csv: The X coordinate which the robot obtained vocabulary/room*/StXty.csv: The Y coordinate which the robot obtained vocabulary/room*/word_*.csv: The list of vocabulary for each trial/room*/Xtx.csv: The X coordinate which the robot obtained image feature/room*/Xty.csv: The Y coordinate which the robot obtained image feature
git clone https://github.com/EmergentSystemLabStudent/Dataset_of_SpCoMapping.git