Wean Hall
Dieter Fox
and Dirk
Haehnel were kind enough to provide us with a quite large data set
from Wean hall at CMU. This
one actually contains several loops, only one of which is shown in our
draft paper. The map is reproduced at 4cm resolution and was made
with 4000 particles at each level of our hierarchical mapping
algorithm. (We used more particles than reported in our draft
paper because we wanted to ensure a visually appealing map for this
presentation. We did not attempt to fine tune this number to find
the minimum number required.) The total map length is over 130m,
and distance the robot travels before closing the first large loop is
over 200m.
