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 (www.ros.org/research/2010/spa) which no longer exists.
With a little help I was able to track down the data which is now hosted here at petercorke.com/spa.
Posted on Monday January 9, 2017
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