Obstacle Traversal Dataset 2017

Laboratory with HTC Vive tracker

This dataset was created in laboratories of the Czech Technical University in Prague, in outdoor areas near Prague and in an industrial training plant RDM in Rotterdam. Sensor data are recorded using Robot Operating System (ROS, version Indigo) as a bag file.

Outdoor stairway
RDM training plant
Laboratory with HTC Vive tracker

There are several ROS topics recorded: laser scanner, odometry, IMU, force sensors in track flippers and many more. In order to keep bag files reasonably large, most of the experiments do not contain camera images. However, 3D laser scans give a good idea about each particular experiment.

Geometry of the robot is stored in /tf topic together with the basic 6-DOF odometry - transformation from the /odom (odometry) frame to the /base_link (Body or Robot) frame. It was evaluated on-board during the experiments. Most of indoor experiments contain position reference provided by a 3D tracker using the HTC Vive virtual reality headset system (link). This reference is expressed as a transformation from the /world frame to the /base_link_htc_tracked frame. This transformation is disconnected from the from the robot transformation tree because of limitation laid by the TF framework. The tracker is calibrated in order to align the /base_link_htc_tracked and the /base_link frames.

The dataset is organized by the type of tested motion or environment. Each folder contains a text file with rosbag info that lists contents of all the bag files in the folder, their size and length:

Short ramp
Long ramp
Single pallet straight forward
Ramp and steps
Short obstacle
Staircase segment
Indoor staircase
Three steps
Obstacle course