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Data Set usc-sal200-021120

Data set Submitted by File totals
Name: usc-sal200-021120
Desc: Sensor logs recorded on the second floor of the USC SAL building.
Andrew Howard
ahoward@usc.edu
2 files; 4 Mb

Detailed Description

These files contain the raw sensor data acquired by a robot during two separate tours of the second floor of the USC SAL building. The robot was equipped as follows:

  • Pioneer2DX (odometry)
  • Sick LMS 200 (laser range finder); mounted 8cm forward from the center of the robot, facing forwards.
The robot was teleoperated by a human operator.

File Format Description

The files are gzip\\\'ed text files. Each line records the measurements made by a particular sensor at a particular point in time. Fields within lines are space delimited, and have the following format:

  • Sensor type (\\\"position\\\" or \\\"laser\\\")
  • Sensor index (0 for this data set)
  • Data timestamp (time at which the phenomena occurred; Unix time).
  • Sensor data (specific for each sensor type):
    • Position: pose_x pose_y pose_theta vel_x vel_y vel_theta
    • Laser: range bearing intensity range bearing intensity...[repeats]
All units are SI (meters, radians, seconds, etc).

Notes:

  • The order of the lines in the file reflects the order in which data was recieved from the robot, as a result, the data timestamps may not be in chronological order.

Files
run01.log.gz1Mb
run02.log.gz2Mb