COsy Localization Database

Known Bugs




COLD-Saarbrücken COLD-Freiburg COLD-Ljubljana

Camera Setup
The name COLD is an acronym which stands for COsy (Cognitive Systems for Cognitive Assistants) Localization Database. The database represents an effort to provide a large-scale, flexible testing environment for evaluating mainly vision-based localization systems aiming to work on mobile platforms in realistic settings. The COLD database consists of three datasets (COLD-Freiburg, COLD-Ljubljana, COLD-Saarbrücken) acquired at three different indoor laboratory environments located in three different European cities: the Autonomous Intelligent Systems Laboratory at the University of Freiburg, Germany; the Visual Cognitive Systems Laboratory at the University of Ljubljana, Slovenia; and the Language Technology Laboratory at the German Research Center for Artificial Intelligence in Saarbrücken, Germany. The database contains image sequences captured using a regular and omni-directional cameras together with laser range scans and odometry data. The data were recorded using three different mobile robot platforms and the same camera setup, under various weather and illumination conditions (during cloudy weather, sunny weather and at night) over several days. In each of the three labs, the acquisition was performed in several rooms of different functionality. Consequently, the COLD database is an ideal testbed for assessing the robustness of localization and place recognition/categorization algorithms with respect to both categorical and dynamic changes (introduced by illumination variations and human activity).

For a detailed description of the whole database as well as references, please see the Documents page. For information about how to cite COLD, see Citing. Additional information about each dataset and short videos presenting the acquisition process at each of the three labs can be obtained here: For instructions on how to download the database, please see the Downloads page. Software and additional data which can facilitate processing of COLD are available on the Tools page.

If you have any questions, you experience technical problems or you have spotted a bug, please contact Andrzej Pronobis. Please also check the list of known bugs.
The COLD database was collected by Andrzej Pronobis and Jie Luo and annotated by Muhammad Muneeb Ullah under the supervision of Barbara Caputo and Patric Jensfelt.

This work was supported by the EU integrated project CoSy FP6-004250-IP, The support is gratefully acknowledged.

Very special thanks go to Henrik I. Christensen and the colleagues that made the acquisition of the COLD database possible: Óscar Martínez Mozos and Wolfram Burgard in Freiburg, Matej Artač, Aleš Štimec and Aleš Leonardis in Ljubljana as well as Hendrik Zender and Geert-Jan Kruijff in Saarbrücken.

Created by: Andrzej Pronobis Last modified: