{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T10:05:09Z","timestamp":1777716309744,"version":"3.51.4"},"reference-count":8,"publisher":"SAGE Publications","issue":"14","license":[{"start":{"date-parts":[[2013,12,1]],"date-time":"2013-12-01T00:00:00Z","timestamp":1385856000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2013,12]]},"abstract":"<jats:p>This paper presents a large scale dataset of vision (stereo and RGB-D), laser and proprioceptive data collected over an extended duration by a Willow Garage PR2 robot in the 10 story MIT Stata Center. As of September 2012 the dataset comprises over 2.3 TB, 38 h and 42 km (the length of a marathon). The dataset is of particular interest to robotics and computer vision researchers interested in long-term autonomy. It is expected to be useful in a variety of research areas\u2014robotic mapping (long-term, visual, RGB-D or laser), change detection in indoor environments, human pattern analysis, long-term path planning. For ease of use the original ROS \u2018bag\u2019 log files are provided and also a derivative version combining human readable data and imagery in standard formats. Of particular importance, this dataset also includes ground-truth position estimates of the robot at every instance (to typical accuracy of 2 cm) using as-built floor-plans\u2014which were carefully extracted using our software tools. The provision of ground-truth for such a large dataset enables more meaningful comparison between algorithms than has previously been possible.<\/jats:p>","DOI":"10.1177\/0278364913509035","type":"journal-article","created":{"date-parts":[[2014,1,7]],"date-time":"2014-01-07T06:44:23Z","timestamp":1389077063000},"page":"1695-1699","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":49,"title":["The MIT Stata Center dataset"],"prefix":"10.1177","volume":"32","author":[{"given":"Maurice","family":"Fallon","sequence":"first","affiliation":[{"name":"Massachusetts Institute of Technology, Cambridge, MA, USA"}]},{"given":"Hordur","family":"Johannsson","sequence":"additional","affiliation":[{"name":"Massachusetts Institute of Technology, Cambridge, MA, USA"}]},{"given":"Michael","family":"Kaess","sequence":"additional","affiliation":[{"name":"Massachusetts Institute of Technology, Cambridge, MA, USA"}]},{"given":"John J","family":"Leonard","sequence":"additional","affiliation":[{"name":"Massachusetts Institute of Technology, Cambridge, MA, USA"}]}],"member":"179","published-online":{"date-parts":[[2014,1,7]]},"reference":[{"key":"bibr1-0278364913509035","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20400"},{"key":"bibr2-0278364913509035","volume-title":"Proceedings of the International symposium of robotics research (ISRR)","author":"Huang A","year":"2011"},{"key":"bibr3-0278364913509035","doi-asserted-by":"publisher","DOI":"10.1575\/1912\/5980"},{"key":"bibr4-0278364913509035","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2013.6630556"},{"key":"bibr5-0278364913509035","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.2006706"},{"key":"bibr6-0278364913509035","doi-asserted-by":"crossref","unstructured":"Marder-Eppstein E, Berger E, Foote T, Gerkey B, Konolige K (2010) The office marathon: Robust navigation in an indoor office environment. In: IEEE International conference on robotics and automation (ICRA), Anchorage, AK, 3\u20137 May 2010, pp. 300\u2013307. Available at: http:\/\/www.ros.org\/wiki\/Papers\/ICRA2010_Marder-Eppstein.","DOI":"10.1109\/ROBOT.2010.5509725"},{"key":"bibr7-0278364913509035","doi-asserted-by":"publisher","DOI":"10.1023\/A:1014573219977"},{"key":"bibr8-0278364913509035","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6385773"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364913509035","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364913509035","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:17:59Z","timestamp":1777457879000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0278364913509035"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2013,12]]},"references-count":8,"journal-issue":{"issue":"14","published-print":{"date-parts":[[2013,12]]}},"alternative-id":["10.1177\/0278364913509035"],"URL":"https:\/\/doi.org\/10.1177\/0278364913509035","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2013,12]]}}}