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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: about 2 months 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 (over 1 year ago)
- Default Branch: main
- Last Pushed: 2024-03-20T14:08:46.000Z (9 months ago)
- Last Synced: 2024-06-12T08:11:26.152Z (6 months ago)
- Topics: imu, inertial-navigation-systems, lidar, lidar-degeneracy, odometry, radar
- Homepage:
- Size: 582 KB
- Stars: 118
- Watchers: 6
- Forks: 5
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
- Awesome-3D-LiDAR-Datasets - LiDAR-Degeneray-Datasets - 128|No|Odom|Small| (Summary Table / Update: 2023-07-12)
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.
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.
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.