2015-06-11T21:31:11 n603

Vision, GPS and Translation and Orientation Data from a Car: for testing and evaluation of stereo visual odometry and SLAM algorithms

Viewed: 202

The dataset was gathered to inform development of a low-cost robotic sensor platform, capable of performing accurate estimation of robotic position for Simultaneous Localisation and Mapping or SLAM tasks.

The data was gathered from a car driven in a 9.5km circuit around the University of Queensland's St Lucia campus on the 15/12/2010. Travelling at speeds of up to 60km/h, the driven circuit traverses local roads and encounters a number of varying scenarios including roadworks, speed bumps, bright scenes, a number of loop closure events, multi-lane roads and roundabouts.

The data consists of visual data from a calibrated stereo pair, translation and orientation information as a ground truth from an XSens Mti-g INS GPS and additional information from a USB NMEA GPS. The full set of images is available as separated 1.95GB RAR files, while a smaller subset of 100 images in both raw and debayered/undistorted formats is also available. MD5 checksums are provided on large files to ensure integrity of downloaded data. 

Access rights

This dataset has been released for free and public use in testing and evaluating stereo visual odometry and visual SLAM algorithms.

Location of data collection

kmlPolyCoords
153.007436,-27.491735 153.003017,-27.492229 152.998683,-27.491658 152.993621,-27.491963 152.989759,-27.497489 152.991132,-27.502329 152.996839,-27.503927 152.997997,-27.505754 153.001771,-27.506592 153.013787,-27.503231 153.021340,-27.501937 153.018251,-27.494171 153.013702,-27.490745 153.007436,-27.491735 153.007436,-27.491735 153.013616,-27.490745 153.007436,-27.491735

Publications

Warren, M., McKinnon, D., & Upcroft, B. (2013). Online calibration of stereo rigs for long-term autonomy. Paper presented at the 2013 IEEE International Conference on Robotics and Automation (ICRA). Retrieved from http://eprints.qut.edu.au/60978/
Warren, Michael, McKinnon, David, He, Hu, & Upcroft, Ben (2010) Unaided stereo vision based pose estimation. In Australasian Conference on Robotics and Automation (ACRA 2010), 1-3 December 2010, Brisbane, Queensland. http://eprints.qut.edu.au/39881/

Research areas

Vision
Stereo Vision
Information and Computing Science
Spatial Data
Pose Estimation
Bundle Adjustment
Artifical Intelligence and Image Processing
Adaptive Agents and Intelligent Robotics
Engineering
Information and computing sciences

Cite this collection

Warren, Michael, McKinnon, David, He, Hu, & Upcroft, Ben (2010) Unaided stereo vision based pose estimation. In Australasian Conference on Robotics and Automation (ACRA 2010), 1-3 December 2010, Brisbane, Queensland. http://eprints.qut.edu.au/39881/

Licence


Creative Commons Attribution-NonCommercial-Share Alike 4.0 (CC-BY-NC-SA)
http://creativecommons.org/licenses/by-nc-sa/4.0/

Copyright

© Michael Warren & Dr. Ben Upcroft, 2010.

Dates of data collection

From 2010-12-15 to 2010-12-15

Connections

Has association with
QUT CyPhy Lab   (Group)
Was collected by
Dr. Ben Upcroft  (Researcher)
Michael Shiel   (Researcher)
Michael Warren  (Researcher)

Other

Date record created:
2014-02-09
Date record modified:
2015-06-11T21:31:11
Record status:
Published - Open Access