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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)
ISSN2994-3566
期号2024
页码2125-2130
发表状态已发表
DOI10.1109/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
EISSN2994-3574
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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