The IROS2010 paper Efficient Sparse Pose Adjustment for 2D Mapping” by Kurt Konolige, Giorgio Grisetti, Rainer Kümmerle, Wolfram Burgard, Benson Limketkai, and Regis Vincent was published with a link to a website that contained a number of great datasets and reference results.  The link was to a Willow Garage website ( which no longer exists.

With a little help I was able to track down the data which is now hosted here at

Sparse Pose Adjustment