Wean Hall

Dieter Fox and Dirk Haehnel were kind enough to provide us with a quite large data set from Wean hall at CMU.  This one actually contains several loops, only one of which is shown in our draft paper.  The map is reproduced at 4cm resolution and was made with 4000 particles at each level of our hierarchical mapping algorithm.  (We used more particles than reported in our draft paper because we wanted to ensure a visually appealing map for this presentation.  We did not attempt to fine tune this number to find the minimum number required.)  The total map length is over 130m, and distance the robot travels before closing the first large loop is over 200m.