Public datasets
This page points to different datasets created during our experiments with our ground robots. We have been using ROS and therefore the data format to expect is ROS bagfile.
(robotic) platform: Sensor rig carried by a pick-up car in the Mine and by a Volvo wheel loader in the Forest
experiments published in the "Do we need scan-matching in radar odometry?" (ICRA 2024)
Mine: Kvarntorp underground mine, Sweden, 2.4km
Forest: Testing site for Volvo Construction Equipment, Eskilstuna, Sweden, 1.8km
data container: ROS Noetic bag files
sensors:
Sensrad Hugin A3-Sample (solid-state 4D radar)
Ouster OS1-64 (3D lidar)
Xsens MTi-30 (IMU)
Emlid Reach RS2+ (RTK-GNSS receiver pair, Forest experiment only)
Mobile Tracked Robot TRADR: Obstacle traversal experiments 2017
robotic platform: TRADR UGV
indoor and outdoor experiments (indoor 3D reference: HTC Vive tracker)
data container: ROS Indigo bag file
sensors: SICK laser scanner, odometry, IMU, magnetometer, joint angles, experimental force sensors in track flippers
robotic platform: NIFTi UGV
indoor and outdoor experiments provided with precise reference (indoor: Vicon, outdoor: Leica TS15)
data container: ROS Fuerte bag file
sensors: omni-camera, SICK laser scanner, odometry, IMU, magnetometer, joint angles