Skip to content

Latest commit

 

History

History
24 lines (21 loc) · 1.84 KB

dataset.md

File metadata and controls

24 lines (21 loc) · 1.84 KB

drawing

Datasets

Here, you can download the datasets. Each dataset consists of three folders:

  • rosbag - the bags consisting of the unprocessed ROS messages sent from the robots to the base-station.
    • Each ${robot_name}*.bag Consist of two topics:
      • /husky1/lamp/keyed_scans of type pose_graph_msgs/KeyedScan which are the processed point clouds attached to each node of the pose-graph.
      • /husky1/lamp/pose_graph_incremental of type pose_graph_msgs/PoseGraph which are the incremental segments of the pose-graph.
  • g2o_pcd - the above ROS messages converted to g2o and pcd files.
  • ground_truth - the ground-truth artifacts which consist of:
    • ${robot_name}*_odom.bag: the ground truth odometry
    • result.g2o: the ground truth in g2o format.
    • *.pcd: the ground truth point cloud of the environment.

LiDARs dataset

Name Robots Distance (m) Link Map
Tunnel Husky3 Husky4 2556 link drawing
Urban Husky1 Husky4 Spot1 1530 link drawing
Finals Prelim2 Husky3 Spot1 Spot3 Spot4 1224 link drawing
Kentucky Underground Husky1 Husky2 Husky3 Husky4 6304 link drawing