论文标题
高级映射机器人和高分辨率数据集
Advanced Mapping Robot and High-Resolution Dataset
论文作者
论文摘要
本文介绍了一个完全硬件同步的映射机器人，并支持硬件同步外部跟踪系统，以实现超专有的时间和本地化。使用了9台高分辨率摄像机和两个32梁3D激光镜头，并与专业的，静态的3D扫描仪一起用于地面真相图收集。在映射机器人上校准的所有传感器后，收集了三个数据集，以评估房间内和房间之间的映射算法的性能。基于这些数据集，我们生成地图和轨迹数据，然后将其输入评估算法。我们提供下载数据集，并以一种非常容易再现的方式进行映射和评估程序，以最大程度地比较。我们还对可用机器人相关的数据集进行了调查，并与这些数据集和其中许多属性一起编译了一张大表格。
This paper presents a fully hardware synchronized mapping robot with support for a hardware synchronized external tracking system, for super-precise timing and localization. Nine high-resolution cameras and two 32-beam 3D Lidars were used along with a professional, static 3D scanner for ground truth map collection. With all the sensors calibrated on the mapping robot, three datasets are collected to evaluate the performance of mapping algorithms within a room and between rooms. Based on these datasets we generate maps and trajectory data, which is then fed into evaluation algorithms. We provide the datasets for download and the mapping and evaluation procedures are made in a very easily reproducible manner for maximum comparability. We have also conducted a survey on available robotics-related datasets and compiled a big table with those datasets and a number of properties of them.
