Embedded Files
This dataset was created in ETH Zürich in course of experiments for the EU project NIFTi. The sensor data are recorded by the means of the Robot Operating System (ROS, version Fuerte) as a bag file. There are several ROS topics recorded, mainly output of the omni-directional camera, laser scanner, odometry and IMU. The geometry of the robot joints is stored by the transformation /tf topic. This topic also contains transformation from the /odom (odometry) frame to the /base_link (Body or Robot) frame. It was evaluated on-board during the experiments. There might be also a /map -> /odom transformation present as a result of internal laser mapping running at the time of the experiment.
For the internal parameters of the omnidirectional camera, see the Omni-directional camera parameters document.
The dataset is divided into two main parts depending on the reference system:
- The Vicon reference experiments
- Information about the experiments with the Vicon reference is here
- The Leica reference experiments
- Information about the experiments with the Leica reference is here
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