NIGEL - Sequences

Sequenences

NIGEL includes sequences from two local locations, the University of Alabama campus (CAMPUS) and private forested property (FOREST). Each location contains data captured at three different times of day - 2 PM (AFTERNOON), 6PM (EVENING), 12 AM (MIDNIGHT) to increase scene diversity including lighting condition and thermal scene range. Furthermore, calibration sequences are also provided if users want to perform their own calibrations.

CAMPUS

The University of Alabama Tuscaloosa campus
Total ~ 7.5 km
Contain three loops
Small amount of moving objects in scene

FOREST

Private property
Total ~ 1.9 km
Does not contain loops - odometry only
Altitude variation of 35 m
Rough terrain
Note - PPK solution degrade ES-EKF performance so single GPS solution and MB is used

Calibration sequences

MULTI-CAM
- Stereo optical images of AprilGrid target
MULTI-THERM
- Stereo thermal images of a custom checkerboard
CAM-IMU
- Stereo optical and IMU
- Sensor rigged in motion in front of static AprilGrid target
LVT
- Stereo thermal, optical, LIDAR
- Static captur of special target

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