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6171 lines (6171 loc) · 237 KB
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# UTIAS Multi-Robot Cooperative Localization and Mapping Dataset
# produced by Keith Leung (keith.leung@robotics.utias.utoronto.ca) 2009
# Measurement Data Fomat:
# Time [s] Subject # range [m] bearing [rad]
1288971842.218 9 5.521 -0.274
1288971842.218 14 2.137 -0.077
1288971842.455 25 2.674 -0.194
1288971842.455 14 2.138 -0.077
1288971842.697 9 5.521 -0.276
1288971842.697 14 2.138 -0.077
1288971842.937 18 5.632 -0.471
1288971842.937 9 5.521 -0.274
1288971842.937 25 2.674 -0.194
1288971842.937 14 2.138 -0.077
1288971843.175 9 5.521 -0.274
1288971843.175 14 2.138 -0.077
1288971843.414 25 2.674 -0.194
1288971843.414 14 2.138 -0.077
1288971843.664 18 5.632 -0.471
1288971843.664 9 5.521 -0.274
1288971843.664 25 2.673 -0.194
1288971843.664 14 2.136 -0.077
1288971843.909 9 5.521 -0.274
1288971843.910 14 2.139 -0.077
1288971844.144 9 5.521 -0.275
1288971844.144 14 2.136 -0.077
1288971844.378 9 5.521 -0.274
1288971844.378 14 2.136 -0.077
1288971844.614 9 5.521 -0.276
1288971844.614 14 2.138 -0.077
1288971844.852 9 5.521 -0.274
1288971844.852 14 2.136 -0.077
1288971845.087 9 5.521 -0.275
1288971845.087 14 2.138 -0.077
1288971845.328 9 5.521 -0.275
1288971845.328 14 2.136 -0.077
1288971845.559 9 5.521 -0.274
1288971845.559 14 2.137 -0.077
1288971845.792 14 2.136 -0.077
1288971846.026 9 5.521 -0.274
1288971846.026 14 2.139 -0.077
1288971846.258 9 5.521 -0.275
1288971846.258 14 2.138 -0.077
1288971846.493 25 2.674 -0.194
1288971846.493 14 2.136 -0.077
1288971846.759 9 5.521 -0.274
1288971846.759 14 2.137 -0.077
1288971846.991 14 2.138 -0.077
1288971847.228 9 5.521 -0.271
1288971847.228 14 2.138 -0.077
1288971847.460 9 5.521 -0.275
1288971847.460 14 2.137 -0.077
1288971847.696 25 2.674 -0.194
1288971847.696 14 2.138 -0.077
1288971847.932 9 5.521 -0.273
1288971847.932 14 2.138 -0.077
1288971848.166 9 5.521 -0.274
1288971848.166 14 2.138 -0.077
1288971848.401 9 5.521 -0.275
1288971848.401 14 2.138 -0.077
1288971848.632 9 5.521 -0.274
1288971848.632 14 2.136 -0.077
1288971848.869 9 5.521 -0.274
1288971848.869 14 2.139 -0.077
1288971849.101 9 5.521 -0.274
1288971849.101 14 2.138 -0.077
1288971849.336 9 5.521 -0.274
1288971849.336 14 2.139 -0.077
1288971849.568 25 2.675 -0.194
1288971849.568 14 2.138 -0.077
1288971849.800 25 2.676 -0.194
1288971849.800 14 2.138 -0.077
1288971850.037 14 2.137 -0.077
1288971850.271 25 2.675 -0.194
1288971850.271 14 2.139 -0.077
1288971850.505 9 5.521 -0.274
1288971850.505 14 2.137 -0.077
1288971850.743 9 5.521 -0.272
1288971850.743 14 2.138 -0.077
1288971850.974 25 2.676 -0.194
1288971850.974 14 2.138 -0.077
1288971851.211 9 5.521 -0.274
1288971851.211 14 2.137 -0.077
1288971851.443 9 5.521 -0.274
1288971851.443 14 2.137 -0.077
1288971851.679 14 2.138 -0.077
1288971851.912 9 5.521 -0.276
1288971851.912 14 2.138 -0.077
1288971852.146 9 5.521 -0.274
1288971852.146 14 2.137 -0.077
1288971852.378 9 5.521 -0.275
1288971852.378 14 2.136 -0.077
1288971852.612 9 5.521 -0.274
1288971852.612 14 2.138 -0.077
1288971852.845 25 2.675 -0.194
1288971852.845 14 2.138 -0.077
1288971853.079 25 2.678 -0.194
1288971853.079 14 2.138 -0.077
1288971853.313 9 5.521 -0.274
1288971853.313 14 2.137 -0.077
1288971853.547 9 5.521 -0.274
1288971853.547 14 2.137 -0.078
1288971853.783 9 5.521 -0.274
1288971853.783 14 2.136 -0.078
1288971854.019 9 5.521 -0.274
1288971854.019 14 2.138 -0.077
1288971854.251 9 5.521 -0.275
1288971854.251 14 2.139 -0.080
1288971854.488 9 5.521 -0.274
1288971854.488 14 2.139 -0.078
1288971854.722 9 5.521 -0.276
1288971854.722 14 2.138 -0.077
1288971854.956 9 5.521 -0.274
1288971854.956 14 2.137 -0.077
1288971855.191 14 2.136 -0.077
1288971855.426 9 5.521 -0.271
1288971855.426 14 2.136 -0.077
1288971855.663 9 5.521 -0.274
1288971855.663 14 2.138 -0.077
1288971855.896 14 2.138 -0.077
1288971856.132 9 5.521 -0.275
1288971856.132 14 2.136 -0.077
1288971856.364 9 5.521 -0.274
1288971856.364 14 2.137 -0.077
1288971856.598 25 2.674 -0.194
1288971856.598 14 2.138 -0.077
1288971856.858 9 5.521 -0.274
1288971856.858 14 2.138 -0.077
1288971857.092 9 5.521 -0.275
1288971857.093 14 2.137 -0.077
1288971857.328 9 5.521 -0.274
1288971857.328 14 2.138 -0.077
1288971857.562 9 5.521 -0.275
1288971857.562 14 2.138 -0.078
1288971857.797 14 2.138 -0.077
1288971858.029 9 5.521 -0.274
1288971858.029 14 2.139 -0.077
1288971858.263 14 2.138 -0.077
1288971858.505 25 2.675 -0.194
1288971858.505 14 2.136 -0.077
1288971858.738 9 5.521 -0.274
1288971858.738 14 2.138 -0.077
1288971858.972 9 5.521 -0.274
1288971858.972 14 2.137 -0.077
1288971859.216 18 5.632 -0.467
1288971859.216 9 5.521 -0.274
1288971859.216 25 2.676 -0.194
1288971859.216 14 2.138 -0.077
1288971859.443 9 5.521 -0.276
1288971859.444 25 2.674 -0.194
1288971859.444 14 2.137 -0.077
1288971859.670 18 5.632 -0.471
1288971859.670 9 5.521 -0.274
1288971859.670 25 2.675 -0.194
1288971859.670 14 2.138 -0.077
1288971859.894 9 5.521 -0.276
1288971859.894 14 2.137 -0.077
1288971860.116 14 2.138 -0.077
1288971860.338 9 5.521 -0.274
1288971860.338 14 2.139 -0.078
1288971860.558 25 2.674 -0.194
1288971860.558 14 2.138 -0.078
1288971860.779 9 5.521 -0.274
1288971860.779 14 2.138 -0.077
1288971861.000 9 5.521 -0.275
1288971861.000 14 2.137 -0.078
1288971861.221 9 5.521 -0.273
1288971861.222 14 2.138 -0.077
1288971861.442 18 5.632 -0.469
1288971861.442 14 2.139 -0.077
1288971861.663 9 5.521 -0.275
1288971861.663 14 2.138 -0.078
1288971861.886 25 2.672 -0.193
1288971861.886 14 2.138 -0.077
1288971862.108 9 5.521 -0.271
1288971862.108 14 2.138 -0.077
1288971862.330 9 5.521 -0.274
1288971862.330 14 2.138 -0.077
1288971862.551 9 5.521 -0.272
1288971862.551 14 2.136 -0.077
1288971862.776 9 5.521 -0.274
1288971862.776 14 2.138 -0.077
1288971862.998 9 5.521 -0.275
1288971862.998 14 2.136 -0.077
1288971863.219 25 2.675 -0.194
1288971863.219 14 2.139 -0.077
1288971863.441 14 2.139 -0.078
1288971863.662 9 5.521 -0.275
1288971863.663 14 2.137 -0.077
1288971863.885 25 2.672 -0.194
1288971863.885 14 2.138 -0.078
1288971864.113 18 5.632 -0.469
1288971864.113 9 5.521 -0.275
1288971864.113 25 2.676 -0.193
1288971864.113 14 2.138 -0.077
1288971864.339 18 5.632 -0.471
1288971864.339 9 5.521 -0.274
1288971864.340 25 2.676 -0.194
1288971864.340 14 2.138 -0.077
1288971864.566 9 5.521 -0.271
1288971864.566 25 2.676 -0.194
1288971864.566 14 2.136 -0.077
1288971864.796 18 5.632 -0.471
1288971864.796 9 5.521 -0.274
1288971864.796 25 2.677 -0.194
1288971864.796 14 2.138 -0.077
1288971865.023 18 5.632 -0.471
1288971865.024 9 5.521 -0.275
1288971865.024 25 2.676 -0.194
1288971865.024 14 2.137 -0.078
1288971865.251 9 5.521 -0.274
1288971865.251 14 2.138 -0.077
1288971865.472 9 5.521 -0.275
1288971865.472 14 2.138 -0.077
1288971865.693 9 5.521 -0.275
1288971865.693 14 2.138 -0.077
1288971865.922 9 5.521 -0.274
1288971865.922 25 2.674 -0.194
1288971865.922 14 2.138 -0.077
1288971866.148 9 5.521 -0.276
1288971866.148 25 2.674 -0.194
1288971866.148 14 2.138 -0.077
1288971866.371 9 5.521 -0.276
1288971866.371 14 2.138 -0.077
1288971866.591 9 5.521 -0.275
1288971866.591 14 2.138 -0.077
1288971866.822 18 5.632 -0.471
1288971866.822 9 5.521 -0.274
1288971866.823 25 2.676 -0.194
1288971866.823 14 2.139 -0.077
1288971867.049 18 5.632 -0.471
1288971867.050 9 5.521 -0.275
1288971867.050 25 2.675 -0.193
1288971867.050 14 2.136 -0.077
1288971867.276 9 5.521 -0.274
1288971867.276 25 2.674 -0.193
1288971867.276 14 2.138 -0.077
1288971867.502 9 5.521 -0.274
1288971867.502 25 2.674 -0.194
1288971867.502 14 2.138 -0.077
1288971867.732 9 5.521 -0.275
1288971867.732 25 2.674 -0.194
1288971867.732 14 2.137 -0.077
1288971867.958 9 5.521 -0.275
1288971867.958 25 2.675 -0.193
1288971867.958 14 2.137 -0.077
1288971868.184 18 5.632 -0.470
1288971868.184 9 5.521 -0.274
1288971868.184 25 2.675 -0.194
1288971868.184 14 2.138 -0.078
1288971868.411 9 5.521 -0.274
1288971868.411 25 2.675 -0.193
1288971868.411 14 2.138 -0.077
1288971868.637 18 5.632 -0.471
1288971868.637 9 5.521 -0.274
1288971868.637 25 2.674 -0.194
1288971868.637 14 2.137 -0.077
1288971868.866 18 5.632 -0.471
1288971868.866 9 5.521 -0.274
1288971868.866 25 2.674 -0.194
1288971868.866 14 2.138 -0.077
1288971869.092 18 5.632 -0.471
1288971869.093 9 5.521 -0.275
1288971869.093 25 2.673 -0.194
1288971869.093 14 2.136 -0.077
1288971869.320 18 5.632 -0.470
1288971869.320 9 5.521 -0.274
1288971869.320 25 2.675 -0.194
1288971869.320 14 2.138 -0.077
1288971869.546 18 5.632 -0.470
1288971869.546 9 5.521 -0.275
1288971869.546 25 2.675 -0.194
1288971869.546 14 2.137 -0.077
1288971869.774 18 5.632 -0.471
1288971869.774 9 5.521 -0.274
1288971869.774 25 2.677 -0.194
1288971869.774 14 2.136 -0.077
1288971870.000 18 5.632 -0.470
1288971870.000 9 5.521 -0.271
1288971870.000 25 2.675 -0.194
1288971870.000 14 2.138 -0.077
1288971870.224 14 2.139 -0.077
1288971870.446 9 5.521 -0.276
1288971870.446 14 2.138 -0.077
1288971870.667 14 2.138 -0.077
1288971870.894 18 5.632 -0.471
1288971870.895 9 5.521 -0.276
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