ETH Hauptgebaude

This dataset was recorded in the main building (Hauptgebaude) of ETH Zurich. The scanner moved mainly along a straight line in a long hallway. This hallway is located at the second floor and surrounds the central place, which is open over several floors. The hallway has a curved ceiling and a wall on one side. On the other side, there are pillars, aches and ramps. Those elements are the main interest of this dataset. The dataset is considered mainly static but at few occasion people were walking in the hallway while recording (see Contextual Photographs).

The intention behind the recording is to evaluate robustness of local registration to repetitive elements. It could also be used for environment representation since same objects reappear often in the scene.

F. Pomerleau, M. Liu, F. Colas, and R. Siegwart, Challenging data sets for point cloud registration algorithms, International Journal of Robotic Research, vol. 31, no. 14, pp. 1705–1711, Dec. 2012. bibtex, Publisher Link

Manually drew map. The photo poses number correspond to the ones used in Contextual Photographs.

You can use right and left arrows keys to navigate once you click on a picture. Number in the photo titles correspond the those used in the Environment Topology section (click on the photo to see the numbers).

Top view of the second floor of the ETH main building:

Scan sequence with the hallway cut in half to ease visualization:

Example of repetitive elements - main pillars and arches (point cloud manually extracted):

Example of repetitive elements - zoom on on arch with details of the ramp (point cloud manually extracted):

Overlap between each scan. The graph can be read as the percentage of points in Scan A that are also in Scan B. The overlap matrix can be downloaded in the section Download Point Clouds in Global Frame as a csv file.

All file contents and headers are explained on the page Tilting Laser - File Formats.

Point clouds of this section have their origin at the scanner center. 2D scans have been transformed using the axis encoder to produce consistent 3D point clouds. The supporting data (Gravity, Magnetic North and GPS) have been recorded while the scanner was rotating. If you do not wish to compute the statistics for the supporting data, you can go to the section Point Clouds in Global Coordinates were single measurements has been selected per pose. The “ground truth” poses can also be downloaded in the section Point Clouds in Global Coordinates.

All csv files have a header explaining each column and consistent timestamps.

Download all local files: local_frame.zip (151 MB) local_frame.tar.gz (151 MB)

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Select the specific csv file you want here.

For Matlab users:

• Example of how to load and plot the point clouds: plotCloudCsv.m

Point clouds of this section have been moved to a global reference frame where the pose of the first 3D scan is the origin. The supporting data (Gravity, Magnetic North and GPS) have been post-processed to have only one reading per 3D scan.

All csv files have a header explaining each column and consistent timestamps.

Download all global files: global_frame.zip (122 MB) global_frame.tar.gz (122 MB)

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Select the specific csv file you want here or in the list below:

• “Ground truth” poses for every point clouds: pose_scanner_leica.csv
• Overlap matrix: overlap_ETH.csv
• Mean of Gravity for every poses: xsens_Gravity_mean.csv
• Mean of Magnetic North for every poses: xsens_Compass_mean.csv
• Mean of GPS for every poses: xsens_Gps_mean.csv

For Matlab users:

• Example of how to load and plot the point clouds: plotCloudCsv.m
• Example of how to load and plot the path: plotPathCsv.m

File type chosen for visualization is VTK legacy in ASCII format. We suggest to use Paraview to view the files because it can be freely downloaded for Windows, Mac and Ubuntu user and it's supported by Kitware. All screenshots of this page were realized using this software. You can download it here: http://www.paraview.org/

Download all local files: vtk_global.zip (121 MB) vtk_global.tar.gz (121 MB)

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Select the specific vtk file you want here or in the table below:

• Sequence of poses with supporting data attached to them: path.vtk (8.9 K)
• Post-processed global map (scanner removed, lower density of points, shadow points removed): globalMap.vtk (46 MB)

This type of data can be useful if you want to do some preprocessing on the 2D scans directly. We used ROS (www.ros.org) as middleware so the raw recordings can be downloaded and playback using rosbag. One rosbag has been recored per 3D scan. The ground truth poses are not available in the rosbags.

For more information on how to use this format see: www.ros.org/wiki/rosbag

Here is the output of rosbag info for the first scan. All scans have roughly the same number of messages

path:        0-Tiltlaser.bag
version:     2.0
duration:    17.9s
start:       Aug 23 2011 18:45:28.53 (1314117928.53)
end:         Aug 23 2011 18:45:46.40 (1314117946.40)
size:        1.4 MB
messages:    4128
compression: none [2/2 chunks]
types:       geometry_msgs/TwistStamped   [98d34b0043a2093cf9d9345ab6eef12e]
             geometry_msgs/Vector3Stamped [7b324c7325e683bf02a9b14b01090ec7]
             sensor_msgs/Imu              [6a62c6daae103f4ff57a132d6f95cec2]
             sensor_msgs/LaserScan        [90c7ef2dc6895d81024acba2ac42f369]
             sensor_msgs/NavSatFix        [2d3a8cd499b9b4a0249fb98fd05cfa48]
             tf/tfMessage                 [94810edda583a504dfda3829e70d7eec]
             xsens_mtig/GPSInfoStatus2    [b43aadd9fb237c1b978f00a668605345]
             xsens_mtig/Thermistor        [1a7c01d7f495652f5c21d90276c66498]
topics:      /gravity_vector    359 msgs    : geometry_msgs/Vector3Stamped
             /imu_data          359 msgs    : sensor_msgs/Imu             
             /info_gps          359 msgs    : xsens_mtig/GPSInfoStatus2   
             /magnetic_vector   359 msgs    : geometry_msgs/Vector3Stamped
             /position_gps      359 msgs    : sensor_msgs/NavSatFix       
             /scan              180 msgs    : sensor_msgs/LaserScan       
             /temperature       718 msgs    : xsens_mtig/Thermistor       
             /tf                717 msgs    : tf/tfMessage                
             /velocity          718 msgs    : geometry_msgs/TwistStamped

Download all bags files: rosbags.zip (18.9 MB), rosbags.tar.gz (18.8 MB)

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Select the specific bag you want here.