The UMA-Offices dataset was collected in our facilities at the University of Málaga. It consist of 25 scenarios captured through an RGB-D sensor mounted on a robot. More info here: https://mapir.isa.uma.es/mapirwebsite/?p=2407 If you use the dataset, please cite it as: @INPROCEEDINGS{Ruiz-Sarmiento-KBS-2015, author = {Ruiz-Sarmiento, J. R. and Galindo, Cipriano and Gonz{\'{a}}lez-Jim{\'{e}}nez, Javier}, title = {Exploiting Semantic Knowledge for Robot Object Recognition}, journal = {Knowledge-Based Systems}, volume = {86}, year = {2015}, doi = {doi:10.1016/j.knosys.2015.05.032}, pages = {131--142}, } @inproceedings{fernandez2013fast, title = {Fast place recognition with plane-based maps}, author = {Fern{\'a}ndez-Moral, Eduardo and Mayol-Cuevas, W and Ar{\'e}valo, Vicente and Gonz{\'a}lez-Jim{\'e}nez, J}, booktitle = {Robotics and Automation (ICRA), 2013 IEEE International Conference on}, pages = {2719--2724}, year = {2013}, organization = {IEEE}