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https://github.com/ntnu-arl/lidar_degeneracy_datasets

LiDAR degeneracy dataset for LiDAR-radar-inertial fusion methods.
https://github.com/ntnu-arl/lidar_degeneracy_datasets

imu inertial-navigation-systems lidar lidar-degeneracy odometry radar

Last synced: 17 days ago
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LiDAR degeneracy dataset for LiDAR-radar-inertial fusion methods.

Host: GitHub
URL: https://github.com/ntnu-arl/lidar_degeneracy_datasets
Owner: ntnu-arl
License: bsd-3-clause
Created: 2023-09-16T18:35:40.000Z (10 months ago)
Default Branch: main
Last Pushed: 2024-03-20T14:08:46.000Z (3 months ago)
Last Synced: 2024-04-20T00:53:52.135Z (2 months ago)
Topics: imu, inertial-navigation-systems, lidar, lidar-degeneracy, odometry, radar
Homepage:
Size: 582 KB
Stars: 103
Watchers: 6
Forks: 2
Open Issues: 1
Metadata Files:
- Readme: README.md
- License: LICENSE

Lists

Awesome-3D-LiDAR-Datasets - LiDAR-Degeneray-Datasets - 128|No|Odom|Small| (Most Recent Update / Update: 2023-07-12)
awesome-stars - ntnu-arl/lidar_degeneracy_datasets - LiDAR degeneracy dataset for LiDAR-radar-inertial fusion methods. (Others)

README

# LiDAR Degeneracy Datasets

Dataset associated with submission for handling LiDAR-degenerative environments through LiDAR-radar-inertial fusion with factor graphs.

The datasets consist of sensor measurements (IMU, LiDAR, and FMCW radar) of an aerial robot manually flown through environments challenging for LiDAR sensors. These are a biking tunnel (geometric self-similarity) and a university corridor filled with fog (obscurants). In addition CAD extrinsics between the sensors are provided.

## Environments

### [Fyllingsdalen Tunnel](https://maps.app.goo.gl/Crj1o13NznuE5fZn8)

Manual flight along a 8m-wide, 500m-long, straight section of a biking tunnel in Bergen, Norway.

![fyllingsdalen bycicale tunnel image](images/drone_in_tunnel.png)

Bag files can be found [here](https://ntnu.box.com/s/congyw29kpo80exau7e1tpeyoqay6u9d)

### [Fog-Filled University Corridor](https://maps.app.goo.gl/V5ZfTVAy4xxQHPzs5)

Manual flight in a university environment in the Elektro building of NTNU in Trondheim, Norway. The first corridor flown through after takeoff is filled with dense fog.

![fog-filled university corridor image](images/image-1580.png)

Bag files can be found [here](https://ntnu.box.com/s/30syn4fpmq5tfgosy99tji4aqirooj1r)

## Robot Equipiment

### Drone

#### Sensors

Synchronized using microcontroller-based internally developed synchronization/triggering module

- [Ouster OS0-128 LiDAR](https://ouster.com/products/scanning-lidar/os0-sensor/)
- [VectorNav VN100 IMU](https://www.vectornav.com/products/detail/vn-100)
- [Texas Instruments IWR6843AOP-EVM Radar](https://www.ti.com/tool/IWR6843AOPEVM)

The header time stamp for IMU and radar originate from the triggering module, to replay the trigger-stamped LiDAR data from packet topics use [this](https://github.com/ntnu-arl/ouster-ros/tree/dev/sensor_sync_replay) driver.

##### Topics

| **Source** | **Topic** | **Rate [Hz]** |
|:----------: |------------------------------------------------------------------------------------------------------------------------------------------------------------------- |--------------- |
| Triggering | - `/sensor_sync_node/trigger_0`
- `/sensor_sync_node/trigger_1` | - 800
- 10 |
| IMU | `/vectornav_node/uncomp_imu` | 200 |
| LiDAR | - `/os_cloud_node/imu_packets`
- `/os_cloud_node/lidar_packets`
- `/os_cloud_node/metadata` | 10 |
| Radar | `/radar/cloud` | 10 |

##### Extrinsics

All extrinsics are given with respect to the IMU

**LiDAR**

- translation [x, y, z]
- `[-0.00171, 0.02149, 0.0358]`
- orientation [x, y, z, w]
- `[0.000462, 0.0008483, 0.0028835, 0.9999954]`

**Radar**

- translation [x, y, z]
- `[0.07771, 0.02141, -0.03631]`
- orientation [x, y, z, w]
- `[0.953717, 0, -0.3007058, 0]`

## Acknowledgements

We thank the Vestland Fylkeskommune for providing access to the Fyllingsdal sykkeltunnel.