This directory contains data associated with the RA-L 2019 paper [Volumetric Instance-Aware Semantic Mapping and 3D Object Discovery](https://arxiv.org/abs/1903.00268). The folder contains the RGB-D ROS bags of the sequence 231 from the [SceneNN dataset](http://scenenn.net/) processed through the [scenenn_to_rosbag](https://github.com/ethz-asl/scenenn_to_rosbag) package, as well as of the office floor sequence captured with two Primesense 3D cameras during the online robotic mapping experiment. The code and instructions are available at [https://github.com/ethz-asl/voxblox-plusplus](https://github.com/ethz-asl/voxblox-plusplus).

Please cite the corresponding publication if you use this data in an academic context:
```
@inproceedings{grinvald2019volumetric,
  title={{Volumetric Instance-Aware Semantic Mapping and 3D Object Discovery}},
  author={Grinvald, Margarita and Furrer, Fadri and Novkovic, Tonci and Chung, Jen Jen and Cadena, Cesar and Siegwart, Roland and Nieto, Juan},
  journal={IEEE Robotics and Automation Letters},
  year={2019},
  note={Under review}
}
```