PeRL STUDIES AUTONOMOUS NAVIGATION & MAPPING FOR MOBILE ROBOTS IN A PRIORI UNKNOWN ENVIRONMENTS.
Here are the softwares and datasets that we have released to the public.
For videos of our research, please visit PeRL's YouTube Channel.
Some of the softwares that we have developed:
- Extrinsic Calibration of a 3D Lidar and Camera: This is an implementation of our mutual information (MI) based algorithm for automatic extrinsic calibration of a 3D laser scanner and optical camera system.
- Generic Linear Constraint Node Removal: This is an implementation of our factor-based method for node removal in SLAM graphs.
During the course of our research we have collected datasets that not only help us in testing state of the art algorithms for autonomous navigation but also help us in developing new algorithms. We provide these datasets to the research community for further development of algorithms related to autonomous navigation.
- Ford Campus Vision and Lidar Dataset: This dataset is a part of the project active safety situational awareness for automotive vehicles.
- North Campus Long-Term Vision and Lidar Dataset: This dataset was collected over the course of 27 sessions over 16 months.