COSMO-Bench

<b><i>Abstract</i></b>: Recent years have seen a focus on research into distributed optimization algorithms for multi-robot Collaborative Simultaneous Localization and Mapping (C-SLAM). Research in this domain, however, is made difficult by a lack of standard benchmark datasets. Such datasets have been used to great effect in the field of single-robot SLAM, and researchers focused on multi-robot problems would benefit greatly from dedicated benchmark datasets. To address this gap we design and release the Collaborative Open-Source Multi-robot Optimization Benchmark (COSMO-Bench) -- a suite of 24 datasets derived from a state-of-the-art C-SLAM front-end and real-world LiDAR dataThis entry, hosted through Carnegie Mellon University libraries, serves to host the official dataset release in perpetuity. However, we also support a website that provides a somewhat nicer user interface at cosmobench.com<br><br>NOTE: Sept 2, 2025 - Shortly after making this data available we were notified of some issues with the groundtruth of the CU-Multi data on which the `kittredge` and `main_campus` datasets are based. While this issue is resolved we have temporarily made these datasets unavailable.<br><br>