Sample Datasets

These article points to datasets that can be used with maplab and ROVIOLI.

EuRoC MAV datasets (from the paper)

Description	Rosbag	VI map (unoptimized)	VI map for reconstruction
MH01	Link	Link	Link
MH02	Link	Link	Link
MH03	Link	Link	Link

Rosbags for the other EuRoC datasets can be downloaded from here.

CLA dataset (from the paper)

Description	Type	Link
CLA floor F for map building	Rosbag	Link
CLA floor G for map building	Rosbag	Link
CLA floor H for map building	Rosbag	Link
CLA floor J for map building	Rosbag	Link
CLA floor F for localization	Rosbag	Link
Merged and optimized VI map of CLA floors F, G, H and J	VI map	coming soon
Calibration data for CLA rosbags	Calibration	Link

Zurich old town dataset (from the paper)

Description	Type	Link
Optimized map	VI map	Link