This project provides a c++ class as an interface for using the UTIAS Multi-Robot Cooperative Localisation and Mapping dataset. The project provides the following functionality:

• Extracts the UTIAS dataset into a c++ class allowing for easy interfacing with the dataset.
• Syncs the timesteps across all measuremets using the same approach as that of the MATLAB Script provided with the dataset (linear interpolation).
• Calculates the corresponding sensor groundtruth for the odometry and measuremet sensors, using the provided state groundtruth (2D position and heading).
• Calculates the sensor error statistics used in Bayesian filtering frameworks.
• Provides a interface for gnuplot to allow for visualisation of extracted data and calculated error statistics.

Documentation

For more information, the documentation for this project is available at: Cooperative Positioning Data Handler github page.

Overview