Contact: Francois Pomerleau
f.pomerleau [at] gmail [dot] com
Date: Aug 26, 2011
Place: ETH, Zurich, Switzerland
Situation: Indoors/Outdoors
Environments: Structured with large variations in scanned volumes
Dynamics: None
Scanner path: 3D motion (going up few stairs)
Re-localization: 0
Number of scan: 31
Avg. points/scan: 191 000
Path bounding box: 10 x 3 x 2.5 m
Scene bounding box: 21 x 111 x 27 m

The recording position starts in an elongated corridor expending on each side of the scanner. The scanner passed through a doorway and crossed a small staircase, composed of 5 steep stairs that lead towards another doorway. This second doorway leads outside the building where bicycles and motorbikes are parked (see Contextual Photographs).

The motivation behind this dataset is to test the robustness of registration algorithms against rapid variations in scanned volumes. It is also a good dataset showing that the hypothesis of a planar motion of the scanner does not hold.


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

Environment Topology

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

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).


Point Cloud Views

Top view of scene with the corridor on the left, the staircase in the middle and the building facade on the right:

Scan sequence seen from above with the ceiling removed to ease visualization:

(If Flash is installed, you can watch a video inside this web page.)

Side view of the dataset:

Zoom on the floor transition:

Scanner Poses

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.

Scanner Orientation

Magnetic North


Number of Detected Satellites


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

Point Clouds in Base Frame

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: (124 MB) local_frame.tar.gz (124 MB)

- or -

Select the specific csv file you want here.

For Matlab users:

Point Clouds in Global Frame

Point clouds of this section has 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) has been post-processed to have only one reading per 3D scan.

All csv files have a header explaining what each columns are and consistent timestamps.

Download all global files: (100 MB) global_frame.tar.gz (100 MB)

- or -

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

For Matlab users:


Visualization Files

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 download 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:

Download all local files: (96 MB) vtk_global.tar.gz (96 MB)

- or -

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

  • Sequence of poses with supporting data attached to them: path.vtk (7.7 KB)
  • Post-processed global map (scanner removed, lower density of points, shadow points removed): globalMap.vtk (24 MB)

Raw Data

This type of data can be useful if you want to do some preprocessing on the 2D scans directly. We used ROS ( 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:

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:    17.8s
start:       Aug 26 2011 14:27:54.62 (1314361674.62)
end:         Aug 26 2011 14:28:12.44 (1314361692.44)
size:        1.4 MB
messages:    4113
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    358 msgs    : geometry_msgs/Vector3Stamped
             /imu_data          358 msgs    : sensor_msgs/Imu             
             /info_gps          358 msgs    : xsens_mtig/GPSInfoStatus2   
             /magnetic_vector   358 msgs    : geometry_msgs/Vector3Stamped
             /position_gps      358 msgs    : sensor_msgs/NavSatFix       
             /scan              179 msgs    : sensor_msgs/LaserScan       
             /temperature       716 msgs    : xsens_mtig/Thermistor       
             /tf                712 msgs    : tf/tfMessage                
             /velocity          716 msgs    : geometry_msgs/TwistStamped

Download all bags files: (14.6 MB), rosbags.tar.gz (14.8 MB)

- or -

Select the specific bag you want here.

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