NTU VIRAL: A visual-inertial-ranging-lidar dataset, from an aerial vehicle viewpoint
NTU VIRAL: A visual-inertial-ranging-lidar dataset, from an aerial vehicle viewpoint
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NTU VIRAL：从飞行器角度来看的视觉惯性测距激光雷达数据集
DOI：
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发表时间：
2021
期刊：
影响因子：
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通讯作者：
Lihua Xie
中科院分区：
文献类型：
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作者：
Thien;Shenghai Yuan;Muqing Cao;Yang Lyu;T. Nguyen;Lihua Xie
近年来，自主机器人在研究和日常生活中变得无处不在。在众多因素中，公共数据集在这一领域的进步中发挥了重要作用，因为它们免除了硬件和人力的初始投资这一艰巨任务。然而，对于自主航空系统的研究，似乎相对缺乏与用于自动驾驶和地面机器人的数据集相同的公共数据集。因此，为了填补这一空白，我们在配备了一套广泛而独特的传感器的空中平台上进行了数据收集练习，这些传感器包括两个3D激光雷达、两个硬件同步的全球快门相机、多个惯性测量单元(IMU)，特别是多个超宽带(UWB)测距单元。这款全面的传感器套件类似于自动驾驶汽车，但具有独特的、具有挑战性的空中操作特征。我们在几个具有挑战性的室内和室外条件下记录了多个数据集。每个包中还包括高精度激光跟踪器的校准结果和地面实况。所有资源都可以通过我们的网页https://ntu-aris.github.io/ntu_viral_dataset/.访问
In recent years, autonomous robots have become ubiquitous in research and daily life. Among many factors, public datasets play an important role in the progress of this field, as they waive the tall order of initial investment in hardware and manpower. However, for research on autonomous aerial systems, there appears to be a relative lack of public datasets on par with those used for autonomous driving and ground robots. Thus, to fill in this gap, we conduct a data collection exercise on an aerial platform equipped with an extensive and unique set of sensors: two 3D lidars, two hardware-synchronized global-shutter cameras, multiple Inertial Measurement Units (IMUs), and especially, multiple Ultra-wideband (UWB) ranging units. The comprehensive sensor suite resembles that of an autonomous driving car, but features distinct and challenging characteristics of aerial operations. We record multiple datasets in several challenging indoor and outdoor conditions. Calibration results and ground truth from a high-accuracy laser tracker are also included in each package. All resources can be accessed via our webpage https://ntu-aris.github.io/ntu_viral_dataset/.
影响因子：
9.2
作者：
Geiger, A.;Lenz, P.;Urtasun, R.
通讯作者：
Urtasun, R.
影响因子：
9.2
作者：
Maddern, Will;Pascoe, Geoffrey;Newman, Paul
通讯作者：
Newman, Paul