Advanced mapping robot and high-resolution dataset
Chen, Hongyu; Yang, Zhijie; Zhao, Xiting; Weng, Guangyuan; Wan, Haochuan; Luo, Jianwen; Ye, Xiaoya; Zhao, Zehao; He, Zhenpeng; Shen, Yongxia; Schwertfeger, Sören
2020
Source PublicationROBOTICS AND AUTONOMOUS SYSTEMS
ISSN0921-8890
Volume131
Status已发表
DOI10.1016/j.robot.2020.103559
Abstract

This paper presents a fully hardware synchronized mapping robot with support for a hardware synchronized external tracking system, for super-precise timing and localization. Nine high-resolution cameras and two 32-beam 3D Lidars were used along with a professional, static 3D scanner for ground truth map collection. With all the sensors calibrated on the mapping robot, three datasets are collected to evaluate the performance of mapping algorithms within a room and between rooms. Based on these datasets we generate maps and trajectory data, which is then fed into evaluation algorithms. We provide the datasets for download and the mapping and evaluation procedures are made in a very easily reproducible manner for maximum comparability. We have also conducted a survey on available robotics-related datasets and compiled a big table with those datasets and a number of properties of them.
© 2020 Elsevier B.V.

KeywordAgricultural robots Conformal mappingEvaluation algorithm Ground truth High resolution High resolution camera Mapping algorithms Mapping robots Tracking system Trajectory data
Indexed BySCI ; EI
PublisherElsevier B.V.
EI Accession Number20203008973734
EI KeywordsAgricultural robots ; Conformal mapping
EI Classification NumberRobotics:731.5
Original Document TypeJournal article (JA)
Citation statistics
Cited Times:3[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttps://kms.shanghaitech.edu.cn/handle/2MSLDSTB/119548
Collection信息科学与技术学院_硕士生
信息科学与技术学院_PI研究组_Sören Schwertfeger组
物质科学与技术学院_本科生
生命科学与技术学院_本科生
信息科学与技术学院_本科生
信息科学与技术学院_博士生
Corresponding AuthorChen, Hongyu
AffiliationSchool of Information Science and Technology, ShanghaiTech University, China
First Author AffilicationSchool of Information Science and Technology
Corresponding Author AffilicationSchool of Information Science and Technology
First Signature AffilicationSchool of Information Science and Technology
Recommended Citation
GB/T 7714
Chen, Hongyu,Yang, Zhijie,Zhao, Xiting,et al. Advanced mapping robot and high-resolution dataset[J]. ROBOTICS AND AUTONOMOUS SYSTEMS,2020,131.
APA Chen, Hongyu.,Yang, Zhijie.,Zhao, Xiting.,Weng, Guangyuan.,Wan, Haochuan.,...&Schwertfeger, Sören.(2020).Advanced mapping robot and high-resolution dataset.ROBOTICS AND AUTONOMOUS SYSTEMS,131.
MLA Chen, Hongyu,et al."Advanced mapping robot and high-resolution dataset".ROBOTICS AND AUTONOMOUS SYSTEMS 131(2020).
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