Software & Datasets


Members of L-CAS are active contributors to the following software projects

  • iceWing: A C++ image processing framework tightly integrated with openCV
  • altURI: contribution to USARSim
  • CAST: The CoSy Architecture Schema Toolkit (CAST) is a system integration framework designed to allow researchers (primarily in the fields of AI and robotics) to develop distributed intelligent, autonomous systems
  • MuPPeTS (Multimodal People Perception and Tracking Software): several C++ libraries for multisensor human detection, recognition and tracking.
  • RoboLib: C# software wrappers and practical tutorials for different robots including Rovio, Roomba and NXT.
  • EVK1104: Tutorials on code development for Atmel EVK1104 evaluation boards.


  • The University of Lincoln Long-term mapping data set:
    • comprising omni-directional camera and laser data
    • acquired over 7 weeks of continuous recording
    • in collaboration with Örebro University, Sweden
    • in this context you may also want to look at the  “Laser Registration Datasets” of ETH Zürich which covers a large spectrum of environmental structures with precise ground truth measurements.
      Recorded informations: 3D point clouds, gravity, magnetic north, GPS, and global poses using a theodolite.
  • Synchronised thermal and colour image sequences of people collected from a mobile robot:
    • scenarios including single persons and crowded situations;
    • stationary and moving robot;
    • ground truth data available for selected sequences;

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