HouseExpo

HouseExpo is a large-scale dataset of indoor layout built on SUNCG dataset. The dataset contains 35,357 2D floor plans with 252,550 rooms in total, together with the category label of each room.PseudoSLAM is a high-speed OpenAI Gym-compatible simulation platform that simulates SLAM and the navigation process in an unknown 2D environment. It reads data from HouseExpo, creates the corresponding 2D environment and generates a mobile robot to carry on different tasks in this environment.