Advanced mapping robot and high-resolution dataset

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.

SLAM in the Field: An Evaluation of Monocular Mapping and Localization on Challenging Dynamic Agricultural Environment

“…Agricultural Robotics Recent surveys on agricultural robotics [14,15,43,62] present applications, challenges, and show a growing interest in SLAM system integration. For example, SLAM is a proper solution for occluded GPS (sometimes blocked by dense foliage) [14], crop-relative guidance in open fields, tree-relative guidance in orchards, and more importantly, sensing the crops and its environment [62].…”

“…Agricultural robotics [14,15,43,62] have to function in environments that can be considered adversarial for most SLAM algorithms: abrupt movements, variable illumination, repetitive patterns, and non-rigidness of the environment are all encountered when performing tasks such as harvesting, seeding, agrochemical dispersal, supervision and mapping. Furthermore, while consequent resources have been spent on improving sensor-fusion for SLAM (with e.g.…”

Accurate calibration of multi-perspective cameras from a generalization of the hand-eye constraint

“…Again, a common sensor alternative used in such applications is a multi-perspective camera. In summary, multi-perspective cameras are considered an interesting and affordable alternative for exteroceptive sensing in an increasing number of applications, such as [1], [2], [3], [4], [5], [6].…”

Cluster on Wheels

“…Public datasets enable researchers to objectively compare their approaches. Recent published datasets include [2] and [3], while [4] includes a survey of various robotic datasets for SLAM.…”

“…This is especially true for RGB, RGB-D and event cameras, which often could provide more than 600MBps (USB 3.0 speed). For example the cameras used in [4] (GS3-U3-51S5C-C) can provide 2,448 x 2,048 pixel at up to 75Hz, which corresponds to 1.05GBps of 8-bit RGB data after debayering. Consequently, datasets typically reduce resolution or frame rate to avoid huge datasets.…”