This data set contains 60 omnidirectional scans recorded around the
robot lab and coffee room of AASS at Örebro University. The total
trajectory length is 111 m. Each point cloud contains about 112000
points.

The poses were acquired using pairwise scan registration with NDT,
using initial estimates from odometry. The accumulated pose error
between scan 1 and scan 60 is 0.67 m and 1.3 degrees, if using these
poses.

Rotations are specified using an axis/angle representation and a
right-handed coordinate system with the z axis pointing upwards. Units
are radians and metres.

The whole data set is bent in the horizontal plane. This is because of
a misconfiguration of the laser scanner, resulting in slightly
nonplanar floors and ceilings.
