Caracterización de un Sistema GPS RTK de Bajo Costo

Pistarelli, Marcelo; Pire, Taihú; Kofman, Ernesto

doi:10.33414/rtyc.35.94-107.2019

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“…The GPS-RTK frequency is 5 Hz. Its accuracy was characterized in our previous work (Pistarelli et al, 2017). The base station consists of a Reach module connected to a Tallysman TW4721 antenna with IP67 protection.…”

Section: The Sensorsmentioning

confidence: 99%

The Rosario dataset: Multisensor data for localization and mapping in agricultural environments

Pire

Mujica

Civera

et al. 2019

The International Journal of Robotics Research

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In this paper we present The Rosario Dataset, a collection of sensor data for autonomous mobile robotics in agricultural scenes. The dataset is motivated by the lack of realistic sensor readings gathered by a mobile robot in such environments. It consists of 6 sequences recorded in soybean fields showing real and challenging cases: highly repetitive scenes, reflection and burned images caused by direct sunlight and rough terrain among others. The dataset was conceived in order to provide a benchmark and contribute to the agricultural SLAM/odometry and sensor fusion research. It contains synchronized readings of several sensors: wheel odometry, IMU, stereo camera and a GPS-RTK system. The dataset is publicly available in http://www.cifasis-conicet.gov.ar/robot/.

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Section: The Sensorsmentioning

confidence: 99%