Laser range data collected from two SICK LMS lasers mounted on the roof of a Toyota Prado driving through suburban streets in Kenmore, QLD, Australia. The data set is about 40 minutes long with a path length of about 18 km. There is no odometry or GPS for this data, but the laser scans are dense enough to make detailed maps and close large loops. The figure was generated from the optimized output of our scanmatched based SLAM algorithm under the Atlas framework, and manually overlayed with a satellite image.
