DISCOMAN: Dataset of Indoor SCenes for Odometry, Mapping And Navigation. - Pavel Kirsanov; Anton Konushin; Airat Gaskarov; Filipp Konokhov; Konstantin Sofiiuk; Anna Vorontsova; Igor Slinko; Dmitry Zhukov; Sergey Bykov; Olga Barinova (IROS, 2019)