PeRL STUDIES AUTONOMOUS NAVIGATION & MAPPING FOR MOBILE ROBOTS IN A PRIORI UNKNOWN ENVIRONMENTS.
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Ford campus vision and lidar data set
Summary
Abstract
In this paper we describe a data set collected by an autonomous ground vehicle testbed, based upon a modified Ford F-250 pickup truck. The vehicle is outfitted with a professional (Applanix POS-LV) and consumer (Xsens MTi-G) inertial measurement unit, a Velodyne three-dimensional lidar scanner, two push-broom forward-looking Riegl lidars, and a Point Grey Ladybug3 omnidirectional camera system. Here we present the time-registered data from these sensors mounted on the vehicle, collected while driving the vehicle around the Ford Research Campus and downtown Dearborn, MI, during November--December 2009. The vehicle path trajectory in these data sets contains several large- and small-scale loop closures, which should be useful for testing various state-of-the-art computer vision and simultaneous localization and mapping algorithms
Bibtex entry
@ARTICLE { gpandey-2011a,
AUTHOR = { Gaurav Pandey and James R. McBride and Ryan M. Eustice },
TITLE = { Ford campus vision and lidar data set },
JOURNAL = { International Journal of Robotics Research },
YEAR = { 2011 },
VOLUME = { 30 },
NUMBER = { 13 },
PAGES = { 1543--1552 },
}