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Data Set isr-fctuc_lrf1_lrf2_cam_imu_carmen_dataset

Data set Submitted by File totals
Name: isr-fctuc_lrf1_lrf2_cam_imu_carmen_dataset
Desc: Carmen log files for indoor environment (approx 80x30 m), with overlap in sequences of Multi-sensor data.
Jorge Manuel Miranda Dias, Luis Davim, José Prado, Filipe Ferreira
jorge@isr.uc.pt, ldavim@isr.uc.pr, jaugusto@isr.uc.pt, cfferreira@isr.uc.pt
15 Jun 2007
1 files; 347 Mb

Detailed Description

Carmen log files for indoor environment (approx 80x30 m), of sequences of multi-sensor data. Overlapping sequences of environment were scanned to demonstrate the difficulty of registering data using odometry and to test loop-closing ability of map-building algorithms.

Sensor data includes range scans from horizontal SICK LMS 200 (RAWLASER1), vertical SICK LMS 200(RAWLASER2), Xsens MTI 400 IMU (XSENS) , Guppy camera (ISRCAM) and Segway RMP 200 pose data (ODOM & SEGPOS)

Images and thumbnail created using CARMEN module \'Vasco\' (included [Vasco]corrected odometry data in the data log-file)

File Format Description
# CARMEN Logfile
# file format is one message per line
# message_name [message contents] ipc_timestamp ipc_hostname logger_timestamp
# message formats defined: PARAM ODOM ISRCAM SEGPOS XSENS RAWLASER1 RAWLASER2 ROBOTLASER1 ROBOTLASER2
# PARAM param_name param_value
# SYNC tagname
# ODOM x y theta tv rv accel
# RAWLASER1 laser_type start_angle field_of_view angular_resolution maximum_range accuracy remission_mode num_readings [range_readings] num_remissions [remission values]
# RAWLASER2 laser_type start_angle field_of_view angular_resolution maximum_range accuracy remission_mode num_readings [range_readings] num_remissions [remission values]
# ROBOTLASER1 laser_type start_angle field_of_view angular_resolution maximum_range accuracy remission_mode num_readings [range_readings] num_remissions [remission values] laser_pose_x laser_pose_y laser_pose_theta robot_pose_x robot_pose_y robot_pose_theta laser_tv laser_rv forward_safety_dist side_safty_dist turn_axis
# ROBOTLASER2 laser_type start_angle field_of_view angular_resolution maximum_range accuracy remission_mode num_readings [range_readings] num_remissions [remission values] laser_pose_x laser_pose_y laser_pose_theta robot_pose_x robot_pose_y robot_pose_theta laser_tv laser_rv forward_safety_dist side_safty_dist turn_axis
# SEGPOS x y theta pitch pitch_rate roll roll_rate tv rv lw_velocity rw_velocity
# ISRCAM filename
# XSENS acc_x acc_y acc_z gyr_x gyr_y gyr_z mag_x mag_y mag_z roll pitch yaw
Files
ISR_sequence.tar.bz2346Mb