The New College Vision and Laser Data Set

被引：228

作者：

Smith, Mike ^{[1
]}

Baldwin, Ian ^{[1
]}

Churchill, Winston ^{[1
]}

Paul, Rohan ^{[1
]}

Newman, Paul ^{[1
]}

机构：

[1] Univ Oxford, Dept Engn Sci, Oxford Mobile Robot Grp, Oxford OX1 3PJ, England

来源：

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH | 2009年 / 28卷 / 05期

基金：

英国工程与自然科学研究理事会;

关键词：

Data paper; laser; vision; stereoscopic; omnidirectional; navigation; mapping; mobile robotics; field robotics; New College;

D O I：

10.1177/0278364909103911

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

In this paper we present a large dataset intended for use in mobile robotics research. Gathered from a robot driving several kilometers through a park and campus, it contains a five-degree-of-freedom dead-reckoned trajectory, laser range/reflectance data and 20 Hz stereoscopic and omnidirectional imagery. All data is carefully timestamped and all data logs are in human readable form with the images in standard formats. We provide a set of tools to access the data and detailed tagging and segmentations to facilitate its use.

引用

页码：595 / 599

页数：5