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https://github.com/ARTI-Robots/mapping_dataset_styria

Open mapping dataset of styria in Austria
https://github.com/ARTI-Robots/mapping_dataset_styria

Last synced: 2 days ago
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Open mapping dataset of styria in Austria

Host: GitHub
URL: https://github.com/ARTI-Robots/mapping_dataset_styria
Owner: ARTI-Robots
License: apache-2.0
Created: 2021-01-27T08:18:27.000Z (almost 4 years ago)
Default Branch: main
Last Pushed: 2021-05-17T13:47:44.000Z (over 3 years ago)
Last Synced: 2024-08-04T00:13:21.388Z (3 months ago)
Language: CMake
Size: 5.96 MB
Stars: 24
Watchers: 6
Forks: 7
Open Issues: 0
Metadata Files:
- Readme: README.md
- License: LICENSE

Awesome Lists containing this project

README

# Mapping Dataset Styria
Open mapping dataset of styria in Austria

## Requirements

Tested on Ubuntu 18.04/20.04 ROS Melodic/Noetic

## Sensor setup for walking dataset

| Type | Sensor | Topic| Frequency |
| ------ | ------ | ------ | ------ |
| Lidar | 1x Ouster OS1-64 | /lidar/points | 10Hz |
| IMU | XSens MTi-630 | /imu/data | 400Hz |
| GPS | u-blox F9P | /ublox_f9p/fix | 1Hz |

#### Graz Inner City (walking):

Duration: 29:07s (1747s)
Size: 27.0 GB

inner_city.zip
https://artirobots.sharepoint.com/:u:/g/EW7NEasfPFNNqX6kgPSrSJ4B8ifLob0q7ta24_YgT0TgIA?e=ZVh2ry

Planned route:

![Planned Route Inner City](https://github.com/ARTI-Robots/mapping_dataset_styria/blob/main/docs/gpx_design_inner_city.jpg?raw=true "Planned Route Inner City")

#### Graz Schlossberg (walking):

Duration: 32:57s (1977s)
Size: 30.5 GB

schlossberg.zip
https://artirobots.sharepoint.com/:u:/g/EcF9BHIY421Kqhf3DT4BxrkBhQt_U97iKyOeN4o3fx0hYA?e=E0iIqG

#### Graz Stadtpark (walking):

Duration: 51:50s (3110s)
Size: 48.0 GB

park.zip
https://artirobots.sharepoint.com/:u:/g/EdIVjOiqYhtMgHvKGAZlkRgBDvNG04Al-CjxZWe8sQg4yg?e=A96ck7

Planned route:

![Planned Route Stadtpark](https://github.com/ARTI-Robots/mapping_dataset_styria/blob/main/docs/gpx_design_park.jpg?raw=true "Planned Route Stadtpark")

## Vehicle Recordings by Virtual Vehicle Research

The demonstrator from Virtual Vehicle Research is equipped with multiple lidars and other sensors for the mapping. To reduce the amount of data only the top-mounted lidar on the vehicle was recorded for all ROSBAGs. One recording includes as well the front/left and right placed Lidars. A high-precision RTK-GPS from NovAtel was used for some recordings to have a ground truth for the positioning.

| Type | Sensor | Topic| Frequency |
| ------ | ------ | ------ | ------ |
| Lidar | 1x Ouster OS2-128 | /lidar_top/points | 10Hz |
| IMU | XSens MTi-630 | /sensing/imu/imu_data | >=200Hz |
| GPS | u-blox F9P | /sensing/ublox_f9p/fix /sensing/ublox_f9p/speed | 5Hz |
| Lidar (optional) | 3x Ouster OS0-64 | /lidar_front/points /lidar_middle_left/points /lidar_middle_right/points | 10Hz |
| GPS (optional) | NovAtel ProPak6 | /sensing/novatel/fix | 100Hz |

![alt text](https://github.com/ARTI-Robots/mapping_dataset_styria/blob/main/docs/vehicle_sensor_positions.png?raw=true)

### Graz University of Technology Campus (driving, low speed):

**Duration:** 21:02s (1232s)
**Size:** 29.5 GB

![University Campus](https://github.com/ARTI-Robots/mapping_dataset_styria/blob/main/docs/1_university_campus.jpg?raw=true "University Campus")

university_campus_2021-01-25-15-59-55_0.zip
https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EYY8Z-SuraJJntc1KN6JoqAB4kFQvc0VKSQBq-wZqi6lUQ?e=Vbm6c1
university_campus_2021-01-25-16-14-56_1.zip
https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EbW-cuGCy15Bnm5G7mHsi9EBrBWb0B9A6TziWNnmJmYb5w?e=DOkFAp

### Graz Inner City (driving):

**Duration:** 29:13s (1753s)
**Size:** 49.3 GB

![Graz Inner City](https://github.com/ARTI-Robots/mapping_dataset_styria/blob/main/docs/6_campus_city_center_campus.jpg?raw=true "Graz Inner City")

campus_city_center_campus_2021-01-22-04-29-34_0.zip
https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EfM4Cnom_2xDtMWHsy7JlsEBn5_cVf3LAHaevfGGcMoBbQ?e=Jj8tEa
campus_city_center_campus_2021-01-22-04-39-06_1.zip
https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EUK2b3I1Io5DpWmhkEN393ABMzT8qTSVxz-b59tdYBcSlQ?e=htEwZK
campus_city_center_campus_2021-01-22-04-48-33_2.zip
https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EaDhvYbyPqRHokSmmqpn5KMB4CD43_V4AJuSMqnM4aVU2A?e=duwbh2
campus_city_center_campus_2021-01-22-04-57-55_3.zip
https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EUpGTkRbiDpMvq6P50-vtKABbXR24OFvFstzwSINCC2HuA?e=7qM1Z4

### Urban Environment 1 (Graz University of Technology -> Murpark):

**Duration:** 10:06s (606s)
**Size:** 9.9 GB

![Urban environment 1](https://github.com/ARTI-Robots/mapping_dataset_styria/blob/main/docs/2_campus_murpark.jpg?raw=true "Urban environment 1")

campus_murpark_2021-03-16-16-27-02_0.zip
https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EXiXlPWXwTBDni7krobKF7YBN1d6THEEux7I2fT8qPux7w?e=y23xBA
campus_murpark_2021-03-16-16-30-00_1.zip
https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/ESV9n6LFv_NOtsZse4cJDZABgfhkUL3U1BWGIbdkfZXV-w?e=iAgYTq
campus_murpark_2021-03-16-16-33-07_2.zip
https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EQ9dDOPOx-pAkSNq0aIi8jwBEcl5Z0xfSt9GN79BtpHwLA?e=RVXeam
campus_murpark_2021-03-16-16-36-13_3.zip
https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EZJdS-YpAlZPtgvbyFEO2m8BQZMRFCwHd2yw3vs305NeWg?e=dcZaWb

### Motorway (Murpark -> A2 -> Murpark):

**Duration:** 12:18s (738s)
**Size:** 10.2 GB

![Motorway](https://github.com/ARTI-Robots/mapping_dataset_styria/blob/main/docs/3_murpark_a2_murpark.jpg?raw=true "University Campus")

murpark_a2_murpark_2021-03-16-16-37-19_0.zip
https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/ET3pY37xB0hJgrjeV400q5EB1ajXSDfW875tcvEzdJW4iw?e=kbBUDx
murpark_a2_murpark_2021-03-16-16-40-27_1.zip
https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EZu51bCyDLlGqeQYYJvxG1kB61-J5s9TbbLBYuo6TzymfQ?e=2mX6Oo
murpark_a2_murpark_2021-03-16-16-43-26_2.zip
https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EZUTXDD-IBhGrPgtGwfznF0BWl4d6BZpJw6q80hfAQlE2Q?e=0HdvhZ
murpark_a2_murpark_2021-03-16-16-46-31_3.zip
https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EYy5JDHWXdBDoaWhfufqnWoBVOhpLcKaMplGz7PerqqSCA?e=Uz7fZD

### Urban environment 2 (Murpark -> Graz University of Technology):

**Duration:** 06:04s (364s)
**Size:** 5.4 GB

![Urban environment 2](https://github.com/ARTI-Robots/mapping_dataset_styria/blob/main/docs/4_murpark_campus.jpg?raw=true "Urban environment 2")

murpark_campus_2021-03-16-17-26-26_0.zip
https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EZVz2fplA0lIpQfTpk5THo0B1kdWCJvVsw8owEHQCGtA6A?e=LUPXRQ
murpark_campus_2021-03-16-17-29-27_1.zip
https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EdI-CAfcBKBAkuJScWNCIsYBfDl8REw-XoLTGZqlLfXkrQ?e=VakPSH

### 4x Lidars (Graz University of Technology Campus):

**Duration:** 18:44s (1124s)
**Size:** 35.3 GB

![Vehicle 4xLidar setup](https://github.com/ARTI-Robots/mapping_dataset_styria/blob/main/docs/vehicle_4_lidars.png?raw=true "Vehicle 4xLidar setup")

vehicle_4_lidars_2021-01-22-05-36-56_0.zip
https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EUccCxSWKSZCtzg65ZyeSjIBrvjRLBfjdh44oNno9F19fw?e=gX1ZEw
vehicle_4_lidars_2021-01-22-05-46-24_1.zip
https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EQznXe0z351AndrMzUBBIOkBkSeRpHzmnJJyRuagFVvNug?e=2WWqIC
vehicle_4_lidars_2021-01-22-05-55-41_2.zip
https://v2c2.sharepoint.com/:u:/s/msteams_project-team_a6232st/EUkwtvFQFhBLsPaoEUDdlXoBdvf9EwAMMRkxbArNUiTUbQ?e=fi4TuT

## Installation

```
cd ~/mapping_ws/src
git clone https://github.com/ARTI-Robots/mapping_dataset_styria.git
git clone https://github.com/virtual-vehicle-research/ouster_example.git
cd ..
catkin_make
```

## Run the package with mapping plattform (walking)

```
roscore
```

```
roslaunch mapping_dataset_styria replay_mapping_plattform.launch
```

```
rosbag play ROSBAG.bag --clock
```

## Run the package with vehicle plattform (driving)

```
roscore
```

```
roslaunch mapping_dataset_styria replay_vehicle.launch
```

```
rosbag play ROSBAG.bag --clock
```

## Powered by

[ARTI - Autonomous Robot Technology GmbH](http://arti-robots.com)

[Virtual Vehicle Research GmbH](https://www.v2c2.at/)