https://github.com/donghwijung/mufe
Multi-floor mapping including the elevator
https://github.com/donghwijung/mufe
duckpod elevator iros lidar mapping pointcloud
Last synced: 5 months ago
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Multi-floor mapping including the elevator
- Host: GitHub
- URL: https://github.com/donghwijung/mufe
- Owner: donghwijung
- Created: 2021-03-01T07:55:53.000Z (over 5 years ago)
- Default Branch: main
- Last Pushed: 2022-09-12T09:20:36.000Z (over 3 years ago)
- Last Synced: 2025-01-24T16:17:40.179Z (over 1 year ago)
- Topics: duckpod, elevator, iros, lidar, mapping, pointcloud
- Homepage:
- Size: 2.93 KB
- Stars: 0
- Watchers: 2
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
# MUFE: Multi-Floor Mapping including the Elevator
Donghwi Jung, Heungmin Park, Jinwoo Lee, Kyunghyun Kim, Giulia Nespoli, and Seong-Woo Kim, "MUFE: Multi-Floor Mapping including the Elevator," submitted to IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Prague, Czech Republic, 2021.
## Description
Multi-floor point cloud mapping including the elevator.
## Dataset
The link for dataset is https://mysnu-my.sharepoint.com/:f:/g/personal/donghwijung_seoul_ac_kr/EpA4YOKrFA5Chm7e0A5LidoBkZCXg9MhcbL_doTs-7PHBA?e=rMSnRA
```
/velydone_points 10 Hz, Velodyne VLP 16
/imu/data 400 Hz, Xsens 680G
/pressure 25 Hz, BMP 180
```
Data description
* The dataset was collected in building 3.
* The ground truth floor-to-floor height for building 3 is 4.16 m.
* 'bld3_5th_to_3rd' includes a journey starting on the 5th floor, going through the 3rd floor and back to the 5th floor.
* 'bld3_3rd_to_4th_to_5th_round' is a path that goes back and forth over three floors. The detailed transitions are as follows: 3->4->5->3->4F.
* 'bld3_5th_to_1st_elv' is the route from the 5th floor to the 1st floor by elevator.
## Video
https://youtu.be/S_8OZRwpDY4