A ground truth for semantic maps, contaning 3D maps and concept hierarchies of the environments.

Explore the Dataset


Open-source downloadable software, to be used for aiding the creation of a semantic map ground truth.

Discover our software

Acquire the ground truth for the semantic map of your environment and share it with the scientific community!

For example, you can start by following these steps:

  • Download our software and the base concept hierarchy
  • Follow the tutorials
  • Acquire and process data
  • Share your ground truth!

Contribute to the Dataset!


Dataset features

  • Real sensor data
  • OWL-DL taxonomy
  • Open-source tools

Need help?

For suggestions or support, you can use the form or visit the personal web pages of the authors.

The authors

Reference: [1] R. Capobianco, J. Serafin, J. Dichtl, G. Grisetti, L. Iocchi, D. Nardi. A Proposal for Semantic Map Representation and Evaluation. Proceedings of the European Conference on Mobile Robots (ECMR), 2015