A 3D LiDAR dataset of ITU heterogeneous robot team

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

doi:10.1145/3373724.3373734

A 3D LiDAR dataset of ITU heterogeneous robot team

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

Department of Control and Automation Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-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 language	English
Title of host publication	ICRAI 2019 - 2019 5th International Conference on Robotics and Artificial Intelligence
Publisher	Association for Computing Machinery
Pages	12-17
Number of pages	6
ISBN (Electronic)	9781450372350
DOIs	https://doi.org/10.1145/3373724.3373734
Publication status	Published - 22 Nov 2019
Event	5th International Conference on Robotics and Artificial Intelligence, ICRAI 2019 - Singapore, Singapore Duration: 22 Nov 2019 → 24 Nov 2019

Publication series

Name	ACM International Conference Proceeding Series

Conference

Conference	5th International Conference on Robotics and Artificial Intelligence, ICRAI 2019
Country/Territory	Singapore
City	Singapore
Period	22/11/19 → 24/11/19

Bibliographical note

Publisher Copyright:
© 2019 Association for Computing Machinery.

Keywords

3D LiDAR
Dataset
Heterogeneous Robot Team
UAV
UGV

Access to Document

10.1145/3373724.3373734

Cite this

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title = "A 3D LiDAR dataset of ITU heterogeneous robot team",

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.",

keywords = "3D LiDAR, Dataset, Heterogeneous Robot Team, UAV, UGV",

author = "Abdulbaki Aybakan and Garen Haddeler and {Caner Akay}, M. and Osman Ervan and Hakan Temeltas",

note = "Publisher Copyright: {\textcopyright} 2019 Association for Computing Machinery.; 5th International Conference on Robotics and Artificial Intelligence, ICRAI 2019 ; Conference date: 22-11-2019 Through 24-11-2019",

year = "2019",

month = nov,

day = "22",

doi = "10.1145/3373724.3373734",

language = "English",

series = "ACM International Conference Proceeding Series",

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Aybakan, A, Haddeler, G, Caner Akay, M, Ervan, O & Temeltas, H 2019, A 3D LiDAR dataset of ITU heterogeneous robot team. in ICRAI 2019 - 2019 5th International Conference on Robotics and Artificial Intelligence. ACM International Conference Proceeding Series, Association for Computing Machinery, pp. 12-17, 5th International Conference on Robotics and Artificial Intelligence, ICRAI 2019, Singapore, Singapore, 22/11/19. https://doi.org/10.1145/3373724.3373734

A 3D LiDAR dataset of ITU heterogeneous robot team. / Aybakan, Abdulbaki; Haddeler, Garen; Caner Akay, M. et al.
ICRAI 2019 - 2019 5th International Conference on Robotics and Artificial Intelligence. Association for Computing Machinery, 2019. p. 12-17 (ACM International Conference Proceeding Series).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - 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.

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A 3D LiDAR dataset of ITU heterogeneous robot team

Abstract

Publication series

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Bibliographical note

Keywords

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