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For more information on this dataset refer to the paper "Comparing Visual Odometry Systems in Actively Deforming Simulated Colon Environments" by Fulton et al. and if you use it please cite.

CITATION: Fulton, M.J., Prendergast, J.M., DiTommaso, E.R., Rentschler, M.E., “Comparing Visual Odometry Systems in Actively Deforming Simulated Colon Environments,” IEEE International Conference on Intelligent Robots and Systems (IROS), Las Vegas, NV, October, 2020.��

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If you would like raw images use the colon_simulator_data.zip download and if you would like rosbags use the colon_simulator_bags.zip download.�� Zipped folders include README files with additional information.

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