Datasets available for use with FABMAP can be found on our website the following locations:

You can download this dataset using an HTTP tool like “wget” as follows:

wget --recursive http://mrg.robots.ox.ac.uk:8080/open-data/eynsham-70k/

You can get wget from a variety of locations:

Please be sure to reference our FABMAP 2.0 paper when using this dataset.

  • [PDF] M. Cummins and Paul Newman, “Highly Scalable Appearance-Only SLAM ñ FAB-MAP 2.0,” in Robotics Science and Systems (RSS), Seattle, USA, 2009.
    Address = {Seattle, USA},
    Author = {Mark Cummins and Paul Newman,},
    Booktitle = {Robotics Science and Systems (RSS)},
    Keywords = {Topological Mapping and Loop Closing With Vision and FABMAP},
    Month = {June},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/FABMAP 2.0 RSS 2009.pdf},
    Title = {Highly Scalable Appearance-Only SLAM {\~n} FAB-MAP 2.0},
    Year = {2009}}