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ShanghaiTech University Knowledge Management System
Collecting Large-Scale Robotic Datasets on a High-Speed Mobile Platform | |
2024-12-14 | |
会议录名称 | 2024 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO)
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ISSN | 2994-3566 |
期号 | 2024 |
页码 | 2125-2130 |
发表状态 | 已发表 |
DOI | 10.1109/ROBIO64047.2024.10907441 |
摘要 | Mobile robotics datasets are essential for research on robotics, for example for research on Simultaneous Localization and Mapping (SLAM). Therefore the ShanghaiTech Mapping Robot was constructed, that features a multitude high-performance sensors and a 16-node cluster to collect all this data. That robot is based on a Clearpath Husky A200 mobile base with a maximum speed of 1 meter per second. This is fine for indoor datasets, but to col-lect large-scale outdoor datasets a faster platform is needed. This system paper introduces our high-speed mobile platform for data collection. The mapping robot is secured on the rear-steered flatbed car with maximum field of view. Additionally, two encoders collect odometry data from two of the car wheels and an external sensor plate houses a downlooking RGB and event camera. With this setup a dataset of more than 10km in the underground parking garage and the outside of our campus was collected and is published with this paper. |
关键词 | Large datasets Mobile robots Sensor nodes SLAM robotics Data collection High performance sensors High speed mobile Large-scales Mapping robots Maximum speed Mobile basis Mobile platform Mobile robotic Simultaneous localization and mapping |
会议名称 | 2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024 |
会议地点 | Bangkok, Thailand |
会议日期 | 10-14 Dec. 2024 |
URL | 查看原文 |
收录类别 | EI |
语种 | 英语 |
出版者 | Institute of Electrical and Electronics Engineers Inc. |
EI入藏号 | 20251418168606 |
EI主题词 | Mapping |
EISSN | 2994-3574 |
EI分类号 | 405.3 Surveying ; 731.5 Robotics ; 1103 Computer Systems and Equipment ; 1106.2 Data Handling and Data Processing |
原始文献类型 | Conference article (CA) |
来源库 | IEEE |
文献类型 | 会议论文 |
条目标识符 | https://kms.shanghaitech.edu.cn/handle/2MSLDSTB/496896 |
专题 | 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 信息科学与技术学院_PI研究组_赵登吉组 信息科学与技术学院_博士生 信息科学与技术学院_PI研究组_曹文翰组 |
作者单位 | Key Laboratory of Intelligent Perception and Human-Machine Collaboration - ShanghaiTech University, Ministry of Education, China |
第一作者单位 | 上海科技大学 |
第一作者的第一单位 | 上海科技大学 |
推荐引用方式 GB/T 7714 | Yuxin Lin,Jiaxuan Ma,Sizhe Gu,et al. Collecting Large-Scale Robotic Datasets on a High-Speed Mobile Platform[C]:Institute of Electrical and Electronics Engineers Inc.,2024:2125-2130. |
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