Ford Campus Vision and Laser Data Set
نویسندگان
چکیده
This paper describes a dataset collected by an autonomous ground vehicle testbed, based upon a modified Ford F-250 pickup truck (Fig 1). The vehicle is outfitted with, a professional (Applanix POS LV) and consumer (Xsens MTI-G) Inertial Measuring Unit (IMU); along with a 3D Velodyne lidar scanner, two push-broom forward looking Riegl lidars, and a Point Grey Ladybug3 omnidirectional camera system. Here we present the timeregistered data from these sensors mounted on the vehicle, collected while driving the vehicle around the Ford Research campus and downtown Dearborn, Michigan during August-November 2009. The vehicle path trajectory in these dataset contain several large and small-scale loop closures, which makes it useful for testing various state of the art computer vision and SLAM (Simultaneous Localization and Mapping) algorithms. Fig. 1. Test vehicle showing sensor arrangement
منابع مشابه
Ford Campus vision and lidar data set
This paper describes a data set collected by an autonomous ground vehicle testbed, based upon a modified Ford F-250 pickup truck. The vehicle is outfitted with a professional (Applanix POS-LV) and consumer (Xsens MTi-G) inertial measurement unit (IMU), a Velodyne 3D-lidar scanner, two push-broom forward looking Riegl lidars, and a Point Grey Ladybug3 omnidirectional camera system. Here we prese...
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