We have developed a software library called MRPT (Mobile Robot Programming Toolkit) that provides a number of wrappers for the most common robotic needs in our projects: localization, mapping, perception, etc. You can visit the MRPT web site by clicking on the image below.
The UMA-Offices dataset was collected in our facilities at the University of Málaga. It consist of 25 scenarios captured through an RGB-D sensor mounted on a robot.
The UMA Visual Inertial Dataset is a collection of 32 sequences obtained in challenging conditions (changing light, low-terxtured scenes) with a handheld custom rig composed by a stereo camera, a stereo rig and a Inertial Measurement Unit.
The Object Labeling Toolkit (OLT) consists of a number of software applications for performing an effortless labeling of datasets, concretely those containing sequences of RGB-D observations.
A 3D reconstruction method to obtain the floor plan including openings (i.e. doors and windows) of multi-room environments from a sequence of RGB-D images captured by a mobile robot.
Open Mobile Robot Arquitecture (OpenMORA) is a MOOS and MRPT-based distributed architecture for mobile robots. It provides off-the-shelf modules for common robotics platforms and sensors, dataset logging, MonteCarlo Localization, reactive and planned navigation, etc.