KTH Meta-rooms dataset

KTH Scitos G5 robot - Rosie 2D Map with waypoints
The data was collected autonomously by a Scitos G5 robot with an RGB-D camera on a pan-tilt, navigating through the KTH office environment over a period of 7 days. Three waypoints have been defined on the 2D map, and each one is visited once per day. Each observation consists of a set of 28 RGB-D images obtained by moving the pan-tilt in a pattern, in increments of 60 degrees horizontally and 30 degrees vertically. The data is a part of the Strands EU FP7 project.
Observations acquired by the robot

Dataset structure

The data is structured in folders as follows: YYYYMMDD/patrol_run_YYY/room_ZZZ , where: Each folder of the type YYYMMDD/patrol_run_YYY/room_ZZZ contains the following files: The room.xml file accompanying an observation contains the following (relevant) fields:


A parser is provided here (can be installed with sudo apt-get install ros-indigo-metaroom-xml-parser) which reads in the data and returns C++ data structures encapsulating the low-level data from the disk. Form more information please refer to the parser README ( or here for a list of supported methods). Information about how to use the Strands package repository can be found here.


This dataset is available for download in a single archive file (~ 12 GB). As an alternative, the individual folders and files can be obtained from here, and would have to be downloaded manually.

Condition of use

If you use the dataset for your research, please cite our paper that describes it:

	Meta-rooms: Building and maintaining long term spatial models in a dynamic world
	Ambrus, Rares and Bore, Nils and Folkesson, John and Jensfelt, Patric
	Intelligent Robots and Systems (IROS), 2014 IEEE/RSJ International Conference on
We attached a bibtex record for your convenience.