We have published a number of datasets. Under each heading you will find the associated paper, as well as links to their websites where relevant. We also make some data from other publications available as is.


Research Data

Where possible, we endeavour to make the data we use in our publications available to the research community for benchmarking and experimentation. This service will be coming soon…


New College Vision and Laser Dataset

  • [PDF] [DOI] M. Smith, I. Baldwin, W. Churchill, R. Paul, and P. Newman, “The New College Vision and Laser Data Set,” The International Journal of Robotics Research, vol. 28, iss. 5, pp. 595-599, 2009.
    [Bibtex]

    @article{SmithEtAl:IJRR09,
    Author = {Mike Smith and Ian Baldwin and Winston Churchill and Rohan Paul and Paul Newman},
    Doi = {DOI: 10.1177/0278364909103911},
    Issn = {0921-8890},
    Journal = {The International Journal of Robotics Research},
    Keywords = {Data Paper and 3D Laser Aquisition and 3D Laser Acquisition and Fusing Vision and Laser},
    Month = {May},
    Note = {Data Papers ¬{\'o} Peer Reviewed Publication of High Quality Data Sets},
    Number = {5},
    Pages = {595 - 599},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/IJRRDataPaper09.pdf},
    Title = {The New College Vision and Laser Data Set},
    Url = {http://www.robots.ox.ac.uk/NewCollegeData/},
    Volume = {28},
    Year = {2009},
    Bdsk-Url-1 = {http://www.robots.ox.ac.uk/NewCollegeData/},
    Bdsk-Url-2 = {http://dx.doi.org/10.1177/0278364909103911}}

FABMAP Multimedia Extension Dataset

FABMAP 10k and 100k word vocabularies can be requested here.

  • [PDF] [DOI] M. Cummins and P. Newman, “FAB-MAP: Probabilistic Localization and Mapping in the Space of Appearance,” The International Journal of Robotics Research, vol. 27, iss. 6, pp. 647-665, 2008.
    [Bibtex]

    @article{CumminsIJRR08,
    Abstract = {This paper describes a probabilistic approach to the problem of recognizing
    places based on their appearance. The system we present is not limited
    to localization, but can determine that a new observation comes from
    a previously unseen place, and so augment its map. Effectively this
    is a SLAM system in the space of appearance. Our probabilistic approach
    allows us to explicitly account for perceptual aliasing in the environment--identical
    but indistinctive observations receive a low probability of having
    come from the same place. We achieve this by learning a generative
    model of place appearance. By partitioning the learning problem into
    two parts, new place models can be learned online from only a single
    observation of a place. The algorithm complexity is linear in the
    number of places in the map, and is particularly suitable for online
    loop closure detection in mobile robotics.},
    Author = {Mark Cummins and Paul Newman},
    Doi = {10.1177/0278364908090961},
    Eprint = {http://ijr.sagepub.com/cgi/reprint/27/6/647.pdf},
    Journal = {The International Journal of Robotics Research},
    Keywords = {FABMAP and Loop Closure Bayesian Appearance and FABMAP Dataset},
    Number = {6},
    Pages = {647-665},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/IJRR_2008_FabMap.pdf},
    Title = {{FAB-MAP: Probabilistic Localization and Mapping in the Space of Appearance}},
    Url = {http://ijr.sagepub.com/cgi/content/abstract/27/6/647},
    Volume = {27},
    Year = {2008},
    Bdsk-Url-1 = {http://ijr.sagepub.com/cgi/content/abstract/27/6/647},
    Bdsk-Url-2 = {http://dx.doi.org/10.1177/0278364908090961}}

Data used in “Navigating, Recognising and Describing Urban Spaces With Vision and Laser”

(ftp) Alog File For November 7th 2008 (180M)

Note: Alogs can be parsed by the software available on The New College Vision and Laser Dataset (see above). If you are prompted for a username and password, use the following:
User: Anonymous
Pass: <leave blank>

  • [PDF] [DOI] P. Newman, G. Sibley, M. Smith, M. Cummins, A. Harrison, C. Mei, I. Posner, R. Shade, D. Schroeter, L. Murphy, W. Churchill, D. Cole, and I. Reid, “Navigating, Recognising and Describing Urban Spaces With Vision and Laser,” The International Journal of Robotics Research, vol. 28, 2009.
    [Bibtex]

    @article{NewmanEtAlIJRR09,
    Author = {Paul Newman and Gabe Sibley and Mike Smith and Mark Cummins and Alastair Harrison and Christopher Mei and Ingmar Posner and Robbie Shade and Derik Schroeter and Liz Murphy and Winston Churchill and Dave Cole and Ian Reid},
    Doi = {10.1177/0278364909341483},
    Journal = {The International Journal of Robotics Research},
    Keywords = {Urban Classification and, journal_posner},
    Month = {October},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/1406-1433 ijr-341483_Low.pdf},
    Title = {Navigating, Recognising and Describing Urban Spaces With Vision and Laser},
    Volume = {28},
    Year = {2009},
    Bdsk-Url-1 = {http://dx.doi.org/10.1177/0278364909341483}}