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DRZ Living Lab Tracked Robot SLAM Dataset

dc.contributor.authorDaun, Kevin
dc.contributor.authorMarius, Schnaubelt
dc.contributor.authorvon Stryk, Oskar
dc.date.accessioned2023-10-17T10:49:33Z
dc.date.available2023-10-17T10:49:33Z
dc.date.issued2021
dc.identifier.urihttps://tudatalib.ulb.tu-darmstadt.de/handle/tudatalib/3973
dc.descriptionData 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.<br/> The four sequences contain<br/> 1) double pitch ramps, which induce a fast pitch motion when traversing<br/> 2) a loose woodpile which slips when traversed<br/> 3) the RoboCup Rescue League "Maneuvering 3 - Traverse" lane which contains a 2.4m long 30-degree incline<br/> 4) the RoboCup Rescue League "Mobility 4 - Elevated Ramps" lane containing a diagonal hill terrain consisting of 60 cm ramps with sloped tops.<br/> The sequences are between 59 s and 149 s in duration.<br/> Corresponding to the publication:<br/> 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.en
dc.relationIsDescribedBy;DOI;10.1109/SSRR53300.2021.9597690
dc.rightsCreative Commons Attribution 4.0
dc.rights.urihttps://creativecommons.org/licenses/by/4.0/
dc.subjectRobotde_DE
dc.subjectRescue Robotde_DE
dc.subjectLidarde_DE
dc.subjectSLAMde_DE
dc.subjectBagfilede_DE
dc.subjectRoboCupde_DE
dc.subject.classification409-05 Interaktive und intelligente Systeme, Bild- und Sprachverarbeitung, Computergraphik und Visualisierungde_DE
dc.subject.ddc004
dc.titleDRZ Living Lab Tracked Robot SLAM Datasetde_DE
dc.typeDatasetde_DE
dc.description.version1.0de_DE
tud.projectBund/BMBF | 13N14861 | A-DRZde_DE
tud.projectLOEWE initiative (Hesse, Germany) within the emergenCITY centerde_DE
tud.unitTUDa


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Creative Commons Attribution 4.0
Except where otherwise noted, this item's license is described as Creative Commons Attribution 4.0