Data Set htwddKogRob-TSDChangesSim for Localization and Lifelong Mapping

<p>This dataset provides log files recorded in a changed indoor environment with 18 dynamic obstacles. The changes from the original map to the simulated world are highlighted in the figure htwddKogRob-TSDChangesSim_changesHighlighted.png. The total distance travelled in this data set is 179.8 km. The prior knowledge map the robot got to localize and update is shown in htwddKogRob-TSDChangesSim_prior.png and the simulated now changed map is shown in htwddKogRob-TSDChangesSim_groundTruth.png (for both maps: 1px <span class="math-tex">\(\widehat{=}\)</span> 0.1m).<br> &nbsp;</p> <p>The work was first presented in:</p> <ul> <li>A Fuzzy-based Adaptive Environment Model for Indoor Robot Localization</li> <li>Authors: Frank Bahrmann, Sven Hellbach, Hans-Joachim B&ouml;hme</li> <li>Date of Publication: 2016/10/6</li> <li>Conference: Telehealth and Assistive Technology / 847: Intelligent Systems and Robotics</li> <li>Publisher: ACTA Press</li> </ul> <p>Additionally, we present a video with the proposed algorithm and an insight of this dataset under:</p> <ul> <li>youtube.com/AugustDerSmarte</li> <li>https://www.youtube.com/watch?v=26NBFN_XeQg</li> </ul> <p><strong>Instructions for use</strong></p> <p>The zip archives contain ascii files, which hold the log files of the robot observations and robot poses. Since this data set was recorded in a simulated environment, the logfiles include both a changed starting position and a ground-truth pose. For further information, please refer to the header of the logfile. To simplify the parsing of the files, you can use these two Java snippets:</p> <p><strong>Laser Range Measurements:</strong></p> <pre><code class="language-java"> List&lt;Double&gt; ranges = new ArrayList&lt;&gt;(numOfLaserRays); List&lt;Error&gt; errors = new ArrayList&lt;&gt;(numOfLaserRays); String s = line.substring(4); String delimiter = "()"; StringTokenizer tokenizer = new StringTokenizer(s, delimiter); while(tokenizer.hasMoreElements()){ String[] arr = tokenizer.nextToken().split(";"); boolean usable = (arr[0].equals("0")?false:true); double range = Double.parseDouble(arr[1]); ranges.add(range); errors.add(usable?Error.OKAY:Error.INVALID_MEASUREMENT); }</code></pre> <p><strong>Poses:</strong></p> <pre><code class="language-java"> String poseString = line.split(":")[2]; String[] elements = poseString.substring(1, poseString.length()-1).split(";"); double x = Double.parseDouble(elements[0]); double y = Double.parseDouble(elements[1]); double phi = Double.parseDouble(elements[2]);</code></pre> <p>&nbsp;</p>