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Carmen log files for indoor environment (approx 80x30 m), of sequences of multi-sensor data. Overlapping sequences of environment were scanned to demonstrate the difficulty of registering data using odometry and to test loop-closing ability of map-building algorithms. Sensor data includes range scans from horizontal SICK LMS 200 (RAWLASER1), vertical SICK LMS 200(RAWLASER2), Xsens MTI 400 IMU (XSENS) , Guppy camera (ISRCAM) and Segway RMP 200 pose data (ODOM & SEGPOS) Images and thumbnail created using CARMEN module 'Vasco' (included [Vasco]corrected odometry data in the data log-file)
