Data

Forest Localisation Dataset

Commonwealth Scientific and Industrial Research Organisation
Carvalho de Lima, Lucas ; Ramezani, Milad ; Borges, Paulo ; Bruenig, Micheal
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ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Adc&rfr_id=info%3Asid%2FANDS&rft_id=info:doi10.25919/fbwy-rk04&rft.title=Forest Localisation Dataset&rft.identifier=https://doi.org/10.25919/fbwy-rk04&rft.publisher=Commonwealth Scientific and Industrial Research Organisation&rft.description=The dataset contains lidar, imu and wheel odometry measurements collected using an all-electric 4 wheel robotic vehicle (Gator) in a forest environment at the Queensland Centre for Advanced Technologies (QCAT - CSIRO) in Brisbane, Australia. The dataset also contains a heightmap image constructed from aerial lidar data of the same forest. \nThis dataset allows users to run the Forest Localisation software and evaluate the results of the presented localisation method. \nLineage: The ground view data was collected utilising an all-electric 4 wheel robotic vehicle equipped with a Velodyne VLP-16 laser mounted on a servo-motor, with a 45 degree inclination, spinning around the vertical axis at 0.5Hz. In addition to the lidar scans, imu and wheel odometry measurements were also recorded. The above canopy map (heightmap) was constructed from aerial lidar data captured using a drone also equipped with a spinning mobile lidar sensor.&rft.creator=Carvalho de Lima, Lucas &rft.creator=Ramezani, Milad &rft.creator=Borges, Paulo &rft.creator=Bruenig, Micheal &rft.date=2023&rft.edition=v2&rft_rights=Creative Commons Attribution Noncommercial-Share Alike 4.0 Licence https://creativecommons.org/licenses/by-nc-sa/4.0/&rft_rights=Data is accessible online and may be reused in accordance with licence conditions&rft_rights=All Rights (including copyright) CSIRO 2023.&rft_subject=Robotics&rft_subject=Lidar&rft_subject=Localisation&rft_subject=Field Robotics&rft_subject=Forest&rft_subject=Assistive robots and technology&rft_subject=Control engineering, mechatronics and robotics&rft_subject=ENGINEERING&rft.type=dataset&rft.language=English Access the data
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CC-BY-NC-SA

Creative Commons Attribution Noncommercial-Share Alike 4.0 Licence
https://creativecommons.org/licenses/by-nc-sa/4.0/

Data is accessible online and may be reused in accordance with licence conditions

All Rights (including copyright) CSIRO 2023.

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Brief description

The dataset contains lidar, imu and wheel odometry measurements collected using an all-electric 4 wheel robotic vehicle (Gator) in a forest environment at the Queensland Centre for Advanced Technologies (QCAT - CSIRO) in Brisbane, Australia. The dataset also contains a heightmap image constructed from aerial lidar data of the same forest.
This dataset allows users to run the Forest Localisation software and evaluate the results of the presented localisation method.
Lineage: The ground view data was collected utilising an all-electric 4 wheel robotic vehicle equipped with a Velodyne VLP-16 laser mounted on a servo-motor, with a 45 degree inclination, spinning around the vertical axis at 0.5Hz. In addition to the lidar scans, imu and wheel odometry measurements were also recorded. The above canopy map (heightmap) was constructed from aerial lidar data captured using a drone also equipped with a spinning mobile lidar sensor.

Available: 2023-02-17

Data time period: 2021-10-08 to 2021-10-08

This dataset is part of a larger collection

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Subjects
Assistive Robots and Technology | Control Engineering, Mechatronics and Robotics | Engineering | Field Robotics | Forest | Lidar | Localisation | Robotics |

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