This paper presents a fully hardware synchronized mapping robot with support for a hardware synchronized external tracking system, for super-precise timing and localization. Nine high-resolution cameras and two 32-beam 3D Lidars were used along with a professional, static 3D scanner for ground truth map collection. With all the sensors calibrated on the mapping robot, three datasets are collected to evaluate the performance of mapping algorithms within a room and between rooms. Based on these datasets we generate maps and trajectory data, which is then fed into evaluation algorithms. We provide the datasets for download and the mapping and evaluation procedures are made in a very easily reproducible manner for maximum comparability. We have also conducted a survey on available robotics-related datasets and compiled a big table with those datasets and a number of properties of them.
@article{arxiv.2007.12497,
title = {Advanced Mapping Robot and High-Resolution Dataset},
author = {Hongyu Chen and Zhijie Yang and Xiting Zhao and Guangyuan Weng and Haochuan Wan and Jianwen Luo and Xiaoya Ye and Zehao Zhao and Zhenpeng He and Yongxia Shen and Sören Schwertfeger},
journal= {arXiv preprint arXiv:2007.12497},
year = {2020}
}
Comments
arXiv admin note: substantial text overlap with arXiv:1905.09483