The files in this directory are taken from https://lucacarlone.mit.edu/datasets/
parking-garage.g2o: This file is reported in [2] to come from vertigo ([1]),
which in turn says the files come from g2o [3],
but this author (JLBC) could not find them in this repository anymore.
Anyhow, we retain the same license of g2o for these dataset files in the absence of a clearer source:
g2o is licensed under the BSD License.
Datasets are described in the paper below. Click on the figure to download the corresponding dataset file in g2o format. Please cite the following paper when using the datasets:
[1] Niko Suenderhauf, and Peter Protzel: Switchable Constraints for Robust Pose Graph SLAM, In Proc. of IEEE International Conference on Intelligent Robots and Systems (IROS), Vilamoura, Portugal, 2012.
[2] L. Carlone, R. Tron, K. Daniilidis, and F. Dellaert. Initialization Techniques for 3D SLAM: a Survey on Rotation Estimation and its Use in Pose Graph Optimization. In IEEE Intl. Conf. on Robotics and Automation (ICRA), pages 4597-4604, 2015.
[3] Rainer Kuemmerle, Giorgio Grisetti, Hauke Strasdat, Kurt Konolige, and Wolfram Burgard. g2o: A General Framework for Graph Optimization IEEE International Conference on Robotics and Automation (ICRA), 2011.