Software Tools

To support the dataset we are in the process of making available:

  1. Tools to easily compare SLAM results to the groundtruth (which will be compatiable with common conventions).
  2. A Visual Odometry ROS Node using FOVIS which works with the entire 2TB dataset - in both RGBD and Stereo.
  3. All the tools used to generate the groundtruth - giving the capacity to regenerate and improve the groundtruth results.

The repository is available with anonomous read-only access:

svn co https://svn.csail.mit.edu/stata-dataset


These tools are available as open source under GNU LGPL version 2.1.