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drawing

Datasets

Here, you can download the datasets.

  • Rosbags - bag files to run
    • ${robot_name}_lidar_*.bag - LiDAR scans (velodyne packets as well)
    • imu.bag - imu data from VN100 (covariance also included)
    • odometry.bag - different types of odometry data (wheeled, kinematic, visual)
  • Extra files:
    • odometry.bag - rosbag file that has a ground truth trajectory
    • *.ply, *.pcd - 3D map provides information of the scanned 3D map
    • fiducial_calibration_${robot_name}$.yaml - provides information of inital position in the map (and from where the ground truth starts)
    • ${robot_name}_sensors.yaml - stores information about relative transformation between frames and sensors
  • 2D image - provides information of the enviornment from bird's-eye-view

LiDARs dataset

ID Place Domain Robot Distance (m) Duration (min) rosbags Size (GB) Extra files 2D image
A Satsop Power Plant Elma, WA Urban Husky4 631.53 59:56 click (updated) 61.4 click (updated) drawing
B Satsop Power Plant Elma, WA Urban Spot1 664.27 32:26 click (updated) 20.1 click (updated) drawing
C Satsop Power Plant Elma, WA Urban Husky4 757.40 24:21 click (updated) 45.8 click (updated) drawing
D Bruceton Mine Pittsburgh, PA Tunnel Husky4 1795.88 65:36 click (updated) 31.5 click (updated) drawing
E Lava Beds National Monument, CA Cave Spot1 590.85 25:20 click (updated) 19.1 click (updated) drawing
F Bruceton Mine Pittsburgh, PA Tunnel Husky4 1569.73 49:13 click (updated) 36.8 click (updated) drawing
G Satsop Power Plant Elma, WA Urban Husky1 877.21 93:10 click (updated) 61.4 click (updated) drawing
H Subway Station Los Angeles, CA Urban Spot2 1777.45 46:57 click (updated) 16.7 click (updated) drawing
I Kentucky Underground Limestone Mine, KY Tunnel Spot1 768.82 19:28 click (updated) 9.4 click (updated) drawing
J Kentucky Underground Limestone Mine, KY Tunnel Husky1 2339.81 57:55 click (updated) 79.0 click (updated) drawing
K DARPA Final Louisville Cave, KY Mix Spot1 798.24 30:56 click (updated) 15.5 click (updated) drawing
N DARPA Final Louisville Cave, KY Mix Husky2 325.30 24:08 click (updated) 31.0 click (updated) drawing
O DARPA Final Louisville Cave, KY Mix Husky1 488.48 23:48 click (updated) 47.4 click (updated) drawing
P DARPA Final Louisville Cave, KY Mix Spot1 571.79 34:13 click (updated) 12.3 click (updated) drawing

Ground truth

To determine the ground truth of the robot in the environment, a survey-grade $3D$ map (provided by DARPA in the Subterranean Challenge or produced by the team) is used (see Extra files). The ground-truth trajectory is produced by running LOCUS against the survey-grade map (i.e., scan-to-map is scan-to-survey-map). In this mode, LOCUS is tuned for maximum accuracy at the cost of computational efficiency, as it does not need to be run in real-time.
The ground truth is stored in odometry.bag file. It's important to remember that the trajectory does not start from (0,0,0). The initial position of the robot can be read from the file described here

Recorded topics

  • LiDAR dataset (see here)
  • Hovermap dataset (see here)

Extrinsic Calibration

${robot}_sensors.yaml - provides information about relative transformation between sensors (LiDAR-LiDAR, IMU-LiDAR, etc.). The parent arch refers to the custom-designed device to carry LiDARs sensors.

Initial Pose

fiducial_calibration_${robot_name}.yaml contains the initial position and orientation (pose) of the robot in the global reference frame according to the 3D map.

Hovermap dataset

These datasets have a rotating lidar from hovermap. These are not the focus on this dataset release, but are made available for interested researchers.

ID Place Domain Robot Distance (m) Duration (min) rosbags Extra files 2D image
L DARPA Final Louisville Cave, KY Mix Spot3 245.13 11:41 click (updated) click (updated) drawing
M DARPA Final Louisville Cave, KY Mix Spot4 722.37 19:57 click (updated) click (updated) drawing
N DARPA Final Louisville Cave, KY Mix Husky2 325.30 24:08 click (updated) click (updated) drawing
O DARPA Final Louisville Cave, KY Mix Husky1 488.48 23:48 click (updated) click (updated) drawing
Q DARPA Final Louisville Cave, KY Mix Spot3 744.60 26:55 click (updated) click (updated) drawing
R DARPA Final Louisville Cave, KY Mix Spot4 328.42 13:02 click (updated) click (updated) drawing