# g2o MIT datasets

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](https://openslam-org.github.io/vertigo.html) ([1]),
  which in turn says the files come from [g2o](https://github.com/RainerKuemmerle/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.

# Citations

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.