An annotated data set is presented meant to help researchers in
developing, evaluating and comparing various approaches in
robotics for building space representations appropriate for
communicating with humans. The data consists of omnidirectional
images, laser range scans, sonar readings and robot odometry. A
set of base-level human spatial concepts is used to annotate the
25-February-2007: New version of the dataset uploaded.
1-June-2006: Data annotation and some useful MATLAB functions available from today.