DiTer++ Environments

Sequence : Environments

PARK

PARK is mainly composed of urban site with elevation change. Various characteristics including forest, pedestrian road, narrow corridors and more can be found.

FOREST

FOREST is a terrain where trees are sporadically planted. People are continuously appearing in this sequence.

LAWN

LAWN focuses on poor environments including under-canopy. In this sequence, difficult situations such as the robot stepping on a high grass or hitting it directly are included.

Survey-grade Global Map

Our dataset provides survey-grade map and ground-truth trajectory of our campus sequences

We utilized RTC360, a automated survey device which provides a precise photo-realistic point-cloud map to generate Ground-truth map in environments where each platforms obtained data.
Each obtained map has thoroughly removed dynamic objects and noisy point-cloud generated from glass, water, and sun glare.
Using scan-to-map localization method on survey-grade prior map, we generated Ground Truth Trajectory in each environment.

Leica RTC360

RTC360 is a survey device which can output very dense and colored point cloud up to 130m with mm-level ranging accuracy.

Accuracy of RTC360 comes as follows :

Angular accuracy 18”

Range accuracy 1.0 mm + 10 ppm

3D point accuracy

1.9 mm @ 10 m

2.9 mm @ 20 m

5.3 mm @ 40 m

Ground-truth map

Ground-truth map is processed through Leica mobile-device app to automatically register scans in the field, and post-processed for fine registration and optimization.

Our Ground-truth map offers multiple spatial and spectral information, which comes with intensity and color information in each point-cloud.

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