MAGGIE (Mobile Autonomous riGGed Indoors Explorator) Robot is a custom-made robot suitable for indoor exploration. It has been constructed to serve the needs of the Group of Robotics and Automation. MAGGIE has been utilized for the acquisition of a Cognitive Navigation dataset appropriate for 3D SLAM and place recognition activities.
The creation of this dataset is motivated by the wish to provide to the research community a handy tool for the validation of localization and place classification algorithms. It has been captured by exploiting an RGB-D sensor, i.e. a Microsoft Kinect, mounted on the MAGGIE (Mobile Autonomous riGGed Indoors Exploratory) Robot. The Cognitive Navigation Dataset consists of a long-range indoors route, which has been recorded in the premises of the Democritus University of Thrace to serve the needs of the Laboratory of Robotics and Automation.

If you use this dataset please cite:

  1. Ioannis Kostavelis and Antonios Gasteratos, “Learning Spatially Semantic Representations for Cognitive Robot Navigation”, Robotics and Autonomous Systems, (Elsevier),Vol. 61, No 12, pp 1460-1475, 2013, doi: 10.1016/j.robot.2013.07.008.
  2. Ιoannis Kostavelis, Konstantinos Charalampous, Antonios Gasteratos and John K. Tsotsos, “Robot Navigation via Spatial and Temporal Coherent Semantic Maps”, Engineering Applications of Artificial Intelligence,(Elsevier), Vol. 48, pp. 173–187, 2016, doi: 10.1016/j.engappai.2015.11.004
  3. Ιoannis Kostavelis and Antonios Gasteratos, “Semantic Maps from Multiple Visual Cues”, Expert Systems With Applications,Vol. 68, pp. 45-57, 2017, (Elsevier), doi:10.1016/j.eswa.2016.10.014.