Abstract This paper presents a fully hardware synchronized mapping robot with support for a hardware synchronized external tracking system, for super-precise timing and localization. Nine high-resolution cameras and two 32-beam 3D Lidars were used along with a professional, static 3D scanner for ground truth map collection. With all the sensors calibrated on the mapping robot, three datasets are collected to evaluate the performance of mapping algorithms within a room and between rooms. Based on these datasets we generate maps and trajectory data, which is then fed into evaluation algorithms. We provide the datasets for download and the mapping and evaluation procedures are made in a very easily reproducible manner for maximum comparability. We have also conducted a survey on available robotics-related datasets and compiled a big table with those datasets and a number of properties of them.

中文翻译：

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高级制图机器人和高分辨率数据集

摘要 本文提出了一种全硬件同步测绘机器人，支持硬件同步外部跟踪系统，用于超精确计时和定位。九个高分辨率相机和两个 32 光束 3D 激光雷达与专业的静态 3D 扫描仪一起用于地面实况地图收集。在映射机器人上校准所有传感器后，收集三个数据集以评估房间内和房间之间的映射算法的性能。基于这些数据集，我们生成地图和轨迹数据，然后将其输入评估算法。我们提供数据集供下载，映射和评估程序以一种非常容易重现的方式进行，以实现最大的可比性。