Challenging data sets for point cloud registration algorithms

The number of registration solutions in the literature has bloomed recently. The iterative closest point, for example, could be considered as the backbone of many laser-based localization and mapping systems. Although they are widely used, it is a common challenge to compare registration solutions on a fair base. The main limitation is to overcome the lack of accurate ground truth in current data sets, which usually cover environments only over a small range of organization levels. In computer vision, the Stanford 3D Scanning Repository pushed forward point cloud registration algorithms and object modeling fields by providing high-quality scanned objects with precise localization. We aim to provide similar high-caliber working material to the robotic and computer vision communities but with sceneries instead of objects. We propose eight point cloud sequences acquired in locations covering the environment diversity that modern robots are susceptible to encounter, ranging from inside an apartment to a woodland area. The core of the data sets consists of 3D laser point clouds for which supporting data (Gravity, Magnetic North and GPS) are given for each pose. A special effort has been made to ensure global positioning of the scanner within mm-range precision, independent of environmental conditions. This will allow for the development of improved registration algorithms when mapping challenging environments, such as those found in real-world situations.1