
*** Indoor 3D LIDAR scans with thermal images for mapping (the Automation Lab at Jacobs University Bremen) ***
Authors: Borrmann, D., Afzal, H. 
Jacobs University Bremen gGmbH, Automation Group, Germany
Data set source: http://kos.informatik.uni-osnabrueck.de/3Dscans/

***General Introduction***
This data set was recorded using a Riegl VZ-400 and a Optris PI IR camera. It contains several 3D scans taken around the Automation Lab at Jacobs University Bremen.
 The data set consists of scans and thermal images taken at different poses.

**Equipment***
The pose information of each scanslice was refined using slam6d.

***Description of the data in this data set***
scanXXX.3d contains the the points collected by one 40 degree scan. One row - x,y,z,r,g,b.
X,Y,Z = coordinates of points
r,g,b = RGB component of thermal image for this point
scanXXX.pose contains the pose information of each scanslice, refined using slam6d. Groups of 9 scans are always taken at one position with changing
rotation. It contains two rows. First row - translation parameters x,y,z, second row - rotation parameters x,y,z.