A 3D LiDAR dataset of ITU heterogeneous robot team

Abdulbaki Aybakan, Garen Haddeler, M. Caner Akay, Osman Ervan, Hakan Temeltas

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

4 Citations (Scopus)

Abstract

This paper describes a data set collected with a heterogeneous team of robots consisting of an unmanned ground and aerial vehicles driven in small area inside Maslak Campus of Istanbul Technical University. It is a valuable data set for testing SLAM, Loop Closure and Map Merging techniques. While UGV platform has IMU, GPS, Odometry and Light Detection and Ranging (LiDAR) sensors, UAV platform has IMU, GPS and LiDAR sensors. In UAV dataset, having multiple traversals of the same path can be useful to test loop closure techniques. The dataset is available for download at robotics.itu.edu.tr/ITU_D ataset.

Original languageEnglish
Title of host publicationICRAI 2019 - 2019 5th International Conference on Robotics and Artificial Intelligence
PublisherAssociation for Computing Machinery
Pages12-17
Number of pages6
ISBN (Electronic)9781450372350
DOIs
Publication statusPublished - 22 Nov 2019
Event5th International Conference on Robotics and Artificial Intelligence, ICRAI 2019 - Singapore, Singapore
Duration: 22 Nov 201924 Nov 2019

Publication series

NameACM International Conference Proceeding Series

Conference

Conference5th International Conference on Robotics and Artificial Intelligence, ICRAI 2019
Country/TerritorySingapore
CitySingapore
Period22/11/1924/11/19

Bibliographical note

Publisher Copyright:
© 2019 Association for Computing Machinery.

Funding

This project is financially supported by the Turkish Scientific and Technological Research Council (TUBITAK) under the 116E178 grand number.

FundersFunder number
TUBITAK116E178
Turkish Scientific and Technological Research Council

    Keywords

    • 3D LiDAR
    • Dataset
    • Heterogeneous Robot Team
    • UAV
    • UGV

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