KTH Floor Plan Dataset

A dataset of occupancy grids and their corresponding target wall segments collected by navigating a virtual robot between a set of randomly sampled waypoints in a collection of office-scale floor plans from a university campus.

本数据集包含占据栅格（occupancy grid）及其对应的目标墙体片段，采集流程为：从大学校园内收集多套办公级平面图，在每张平面图中控制虚拟机器人在一组随机采样的航点间进行导航，由此获取对应数据。