circle, double_circle and s are octomap samples of octomaps of simulated smaller scenarios. Circle is a room with a door. Double circle is a circular corridor with one interior opening. S is a s shaped corridor with openings on both sides. Off shore oil are in the same large simulated scenario. Where 4 pillars simulate the pillars of an oil rig. oilrig is the sample after exploring only two pillars. 4 obstacles is after exploring 3 pillars (but has information about the forth. experimental dataset was generated from a flight in a 15 x 15 x 5 interior testbed with obstacles simulating a factory. Sensor at 1 meter.