DRZ Living Lab Tracked Robot SLAM Dataset
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Date
2023-10-17
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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.
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Except where otherwise noted, this license is described as CC BY 4.0 - Attribution 4.0 International