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diff --git a/datasets/bee_waggle_6/.gitignore b/datasets/bee_waggle_6/.gitignore
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+bee_waggle_6.json
+old/
+psslds.zip
diff --git a/datasets/bee_waggle_6/README.md b/datasets/bee_waggle_6/README.md
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+# Bee Waggle Dataset sequence 6
+
+The movement of honey bees switches between a left turn, a right turn, and a 
+waggle.  This dataset contains is a three-dimensional dataset of the position 
+(x, y) and heading angle (theta) of a single bee.
+
+Source: [Parametric Segmental Switching Linear Dynamic Systems 
+(PS-SLDS)](https://www.cc.gatech.edu/~borg/ijcv_psslds/).
+
+When using this time series, please cite original authors:
+
+```bibtex
+@article{oh2008learning,
+    title={Learning and inferring motion patterns using parametric segmental switching linear dynamic systems},
+    author={Oh, S. M. and Rehg, J. M. and Balch, T. and Dellaert, F.},
+    journal={International Journal of Computer Vision},
+    volume={77},
+    number={1-3},
+    pages={103--124},
+    year={2008},
+    publisher={Springer}
+}
+```
+
+![Plot of bee_waggle_6 dataset](./bee_waggle_6.png)
diff --git a/datasets/bee_waggle_6/bee_waggle_6.png b/datasets/bee_waggle_6/bee_waggle_6.png
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diff --git a/datasets/bee_waggle_6/get_bee_waggle_6.py b/datasets/bee_waggle_6/get_bee_waggle_6.py
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+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+
+"""
+Collect the bee_waggle_6 dataset.
+
+See the README file for more information.
+
+Author: G.J.J. van den Burg
+License: This file is part of TCPD, see the top-level LICENSE file.
+Copyright: 2019, The Alan Turing Institute
+
+"""
+
+import argparse
+import hashlib
+import json
+import math
+import os
+import zipfile
+
+from functools import wraps
+from urllib.request import urlretrieve
+
+ZIP_URL = "https://web.archive.org/web/20191114130815if_/https://www.cc.gatech.edu/%7Eborg/ijcv_psslds/psslds.zip"
+
+MD5_ZIP = "039843dc15c72fd5450eeb11c6e5599c"
+MD5_JSON = "4f03feafecb3be0b069b3cb0d6b17d4f"
+
+NAME_ZIP = "psslds.zip"
+NAME_JSON = "bee_waggle_6.json"
+
+
+class ValidationError(Exception):
+    def __init__(self, filename):
+        message = (
+            "Validating the file '%s' failed. \n"
+            "Please raise an issue on the GitHub page for this project "
+            "if the error persists." % filename
+        )
+        super().__init__(message)
+
+
+def check_md5sum(filename, checksum):
+    with open(filename, "rb") as fp:
+        data = fp.read()
+    h = hashlib.md5(data).hexdigest()
+    return h == checksum
+
+
+def validate(checksum):
+    """Decorator that validates the target file."""
+
+    def validate_decorator(func):
+        @wraps(func)
+        def wrapper(*args, **kwargs):
+            target = kwargs.get("target_path", None)
+            if os.path.exists(target) and check_md5sum(target, checksum):
+                return
+            out = func(*args, **kwargs)
+            if not os.path.exists(target):
+                raise FileNotFoundError("Target file expected at: %s" % target)
+            if not check_md5sum(target, checksum):
+                raise ValidationError(target)
+            return out
+
+        return wrapper
+
+    return validate_decorator
+
+
+@validate(MD5_ZIP)
+def download_zip(target_path=None):
+    urlretrieve(ZIP_URL, target_path)
+
+
+@validate(MD5_JSON)
+def write_json(zip_path, target_path=None):
+    with zipfile.ZipFile(zip_path) as thezip:
+        with thezip.open("psslds/zips/data/sequence6/btf/ximage.btf") as fp:
+            ximage = [float(l.strip()) for l in fp]
+        with thezip.open("psslds/zips/data/sequence6/btf/yimage.btf") as fp:
+            yimage = [float(l.strip()) for l in fp]
+        with thezip.open("psslds/zips/data/sequence6/btf/timage.btf") as fp:
+            timage = [float(l.strip()) for l in fp]
+
+    sintimage = [math.sin(t) for t in timage]
+    costimage = [math.cos(t) for t in timage]
+
+    name = "bee_waggle_6"
+    longname = "Bee Waggle no. 6"
+
+    series = [
+        {"label": "x", "type": "float", "raw": ximage},
+        {"label": "y", "type": "float", "raw": yimage},
+        {"label": "sin(theta)", "type": "float", "raw": sintimage},
+        {"label": "cos(theta)", "type": "float", "raw": costimage},
+    ]
+
+    data = {
+        "name": name,
+        "longname": longname,
+        "n_obs": len(ximage),
+        "n_dim": len(series),
+        "time": {"index": list(range(len(ximage)))},
+        "series": series,
+    }
+
+    with open(target_path, "w") as fp:
+        json.dump(data, fp, indent="\t")
+
+
+def collect(output_dir="."):
+    zip_path = os.path.join(output_dir, NAME_ZIP)
+    json_path = os.path.join(output_dir, NAME_JSON)
+
+    download_zip(target_path=zip_path)
+    write_json(zip_path, target_path=json_path)
+
+
+def clean(output_dir="."):
+    zip_path = os.path.join(output_dir, NAME_ZIP)
+    json_path = os.path.join(output_dir, NAME_JSON)
+
+    if os.path.exists(zip_path):
+        os.unlink(zip_path)
+    if os.path.exists(json_path):
+        os.unlink(json_path)
+
+
+def parse_args():
+    parser = argparse.ArgumentParser()
+    parser.add_argument(
+        "-o", "--output-dir", help="output directory to use", default="."
+    )
+    parser.add_argument(
+        "action",
+        choices=["collect", "clean"],
+        help="Action to perform",
+        default="collect",
+        nargs='?'
+    )
+    return parser.parse_args()
+
+
+def main():
+    args = parse_args()
+    if args.action == "collect":
+        collect(output_dir=args.output_dir)
+    elif args.action == "clean":
+        clean(output_dir=args.output_dir)
+
+
+if __name__ == "__main__":
+    main()