3D data collection at Disaster City at the 2008 NIST Response Robot Evaluation Exercise (RREE)

A collection of 3D data sets gathered at the 2008 NIST Response Robot Evaluation Exercise (RREE) in Disaster City, Texas is described. The data sets consist of 3D point clouds collected with an actuated laser range finder in different disaster scenarios. The data sets can be used for performance evaluation of robotics algorithms, especially for 3D mapping. An example is discussed where a 3D model is generated from scans taken in a collapsed car parking.