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Collecting Larg-Scale Robotic Datasets on a High-Speed Mobile Platform
- Publication Year :
- 2024
-
Abstract
- Mobile robotics datasets are essential for research on robotics, for example for research on Simultaneous Localization and Mapping (SLAM). Therefore the ShanghaiTech Mapping Robot was constructed, that features a multitude high-performance sensors and a 16-node cluster to collect all this data. That robot is based on a Clearpath Husky mobile base with a maximum speed of 1 meter per second. This is fine for indoor datasets, but to collect large-scale outdoor datasets a faster platform is needed. This system paper introduces our high-speed mobile platform for data collection. The mapping robot is secured on the rear-steered flatbed car with maximum field of view. Additionally two encoders collect odometry data from two of the car wheels and an external sensor plate houses a downlooking RGB and event camera. With this setup a dataset of more than 10km in the underground parking garage and the outside of our campus was collected and is published with this paper.
- Subjects :
- Computer Science - Robotics
Subjects
Details
- Database :
- arXiv
- Publication Type :
- Report
- Accession number :
- edsarx.2408.00545
- Document Type :
- Working Paper