DRZ Living Lab Tracked Robot SLAM Dataset
| dc.contributor.author | Daun, Kevin | |
| dc.contributor.author | Marius, Schnaubelt | |
| dc.contributor.author | von Stryk, Oskar | |
| dc.date.accessioned | 2023-10-17T10:49:33Z | |
| dc.date.available | 2023-10-17T10:49:33Z | |
| dc.date.issued | 2021 | |
| dc.identifier.uri | https://tudatalib.ulb.tu-darmstadt.de/handle/tudatalib/3973 | |
| dc.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.<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.relation | IsDescribedBy;DOI;10.1109/SSRR53300.2021.9597690 | |
| dc.rights | Creative Commons Attribution 4.0 | |
| dc.rights.uri | https://creativecommons.org/licenses/by/4.0/ | |
| dc.subject | Robot | de_DE |
| dc.subject | Rescue Robot | de_DE |
| dc.subject | Lidar | de_DE |
| dc.subject | SLAM | de_DE |
| dc.subject | Bagfile | de_DE |
| dc.subject | RoboCup | de_DE |
| dc.subject.classification | 409-05 Interaktive und intelligente Systeme, Bild- und Sprachverarbeitung, Computergraphik und Visualisierung | de_DE |
| dc.subject.ddc | 004 | |
| dc.title | DRZ Living Lab Tracked Robot SLAM Dataset | de_DE |
| dc.type | Dataset | de_DE |
| dc.description.version | 1.0 | de_DE |
| tud.project | Bund/BMBF | 13N14861 | A-DRZ | de_DE |
| tud.project | LOEWE initiative (Hesse, Germany) within the emergenCITY center | de_DE |
| tud.unit | TUDa |
Dateien zu dieser Ressource
Der Datensatz erscheint in:
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Lidar SLAM [1]
SLAM Datasets with Lidar
Solange nicht anders angezeigt, wird die Lizenz wie folgt beschrieben: Creative Commons Attribution 4.0