DRZ Living Lab Tracked Robot SLAM Dataset
Description
Data set for the evaluation of SLAM systems in challenging terrains. The data set covers four sequences with challenging terrain, each tracked with a high-performance Qualisys optical motion capture system.
The four sequences contain
1) double pitch ramps, which induce a fast pitch motion when traversing
2) a loose woodpile which slips when traversed
3) the RoboCup Rescue League "Maneuvering 3 - Traverse" lane which contains a 2.4m long 30-degree incline
4) the RoboCup Rescue League "Mobility 4 - Elevated Ramps" lane containing a diagonal hill terrain consisting of 60 cm ramps with sloped tops.
The sequences are between 59 s and 149 s in duration.
Corresponding to the publication:
K. Daun, M. Schnaubelt, S. Kohlbrecher and O. von Stryk, "HectorGrapher: Continuous-time Lidar SLAM with Multi-resolution Signed Distance Function Registration for Challenging Terrain," 2021 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), New York City, NY, USA, 2021, pp. 152-159, doi: 10.1109/SSRR53300.2021.9597690 Add to Citavi project by DOI.
The four sequences contain
1) double pitch ramps, which induce a fast pitch motion when traversing
2) a loose woodpile which slips when traversed
3) the RoboCup Rescue League "Maneuvering 3 - Traverse" lane which contains a 2.4m long 30-degree incline
4) the RoboCup Rescue League "Mobility 4 - Elevated Ramps" lane containing a diagonal hill terrain consisting of 60 cm ramps with sloped tops.
The sequences are between 59 s and 149 s in duration.
Corresponding to the publication:
K. Daun, M. Schnaubelt, S. Kohlbrecher and O. von Stryk, "HectorGrapher: Continuous-time Lidar SLAM with Multi-resolution Signed Distance Function Registration for Challenging Terrain," 2021 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), New York City, NY, USA, 2021, pp. 152-159, doi: 10.1109/SSRR53300.2021.9597690 Add to Citavi project by DOI.
DFG subject classification
409-05 Interaktive und intelligente Systeme, Bild- und Sprachverarbeitung, Computergraphik und VisualisierungRelated third party funded projects
Bund/BMBF | 13N14861 | A-DRZLOEWE initiative (Hesse, Germany) within the emergenCITY center
Related Resources
- Is described by: DOI:10.1109/SSRR53300.2021.9597690
Collections
-
Lidar SLAM [2]
The following license files are associated with this item:
Except where otherwise noted, this item's license is described as Creative Commons Attribution 4.0