Data

Vision, GPS and Translation and Orientation Data from a Car: for testing and evaluation of stereo visual odometry and SLAM algorithms

Queensland University of Technology
Associate Professor Ben Upcroft (Aggregated by) Michael Shiel (Aggregated by) Michael Warren (Aggregated by)
Viewed: [[ro.stat.viewed]] Cited: [[ro.stat.cited]] Accessed: [[ro.stat.accessed]]
ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Adc&rfr_id=info%3Asid%2FANDS&rft_id=https://wiki.qut.edu.au/display/cyphy/UQ+St+Lucia&rft.title=Vision, GPS and Translation and Orientation Data from a Car: for testing and evaluation of stereo visual odometry and SLAM algorithms&rft.identifier=10378.3/8085/1018.14938&rft.publisher=Queensland University of Technology&rft.description=The dataset was gathered to inform development of a low-cost robotic sensor platform, capable of performing accurate estimation of robotic position for Simultaneous Localisation and Mapping or SLAM tasks. The data was gathered from a car driven in a 9.5km circuit around the University of Queensland's St Lucia campus on the 15/12/2010. Travelling at speeds of up to 60km/h, the driven circuit traverses local roads and encounters a number of varying scenarios including roadworks, speed bumps, bright scenes, a number of loop closure events, multi-lane roads and roundabouts. The data consists of visual data from a calibrated stereo pair, translation and orientation information as a ground truth from an XSens Mti-g INS GPS and additional information from a USB NMEA GPS. The full set of images is available as separated 1.95GB RAR files, while a smaller subset of 100 images in both raw and debayered/undistorted formats is also available. MD5 checksums are provided on large files to ensure integrity of downloaded data.  &rft.creator=Associate Professor Ben Upcroft&rft.creator=Michael Shiel&rft.creator=Michael Warren&rft.date=2014&rft.relation=http://eprints.qut.edu.au/39881/&rft.relation=http://eprints.qut.edu.au/60978/&rft.coverage=153.007436,-27.491735 153.003017,-27.492229 152.998683,-27.491658 152.993621,-27.491963 152.989759,-27.497489 152.991132,-27.502329 152.996839,-27.503927 152.997997,-27.505754 153.001771,-27.506592 153.013787,-27.503231 153.021340,-27.501937 153.018251,-27.494171 153.013702,-27.490745 153.007436,-27.491735 153.007436,-27.491735 153.013616,-27.490745 153.007436,-27.491735&rft_rights=© Michael Warren & Dr. Ben Upcroft, 2010. &rft_rights=Creative Commons Attribution-NonCommercial-Share Alike 3.0 http://creativecommons.org/licenses/by-nc-sa/3.0/au/&rft_subject=Spatial Data&rft_subject=Stereo Vision &rft_subject=Information and Computing Science&rft_subject=Adaptive Agents and Intelligent Robotics&rft_subject=INFORMATION AND COMPUTING SCIENCES&rft_subject=Bundle Adjustment &rft_subject=Pose Estimation &rft_subject=Vision &rft_subject=ENGINEERING&rft.type=dataset&rft.language=English Access the data
Cite Saved to MyRDA Save to MyRDA

Licence & Rights:

Non-Commercial Licence view details
CC-BY-NC-SA

Creative Commons Attribution-NonCommercial-Share Alike 3.0
http://creativecommons.org/licenses/by-nc-sa/3.0/au/

© Michael Warren & Dr. Ben Upcroft, 2010.

Access:

Other view details

This dataset has been released for free and public use in testing and evaluating stereo visual odometry and visual SLAM algorithms.

Contact Information

Postal Address:
Michael Warren

michael.warren@qut.edu.au

Full description

The dataset was gathered to inform development of a low-cost robotic sensor platform, capable of performing accurate estimation of robotic position for Simultaneous Localisation and Mapping or SLAM tasks.

The data was gathered from a car driven in a 9.5km circuit around the University of Queensland's St Lucia campus on the 15/12/2010. Travelling at speeds of up to 60km/h, the driven circuit traverses local roads and encounters a number of varying scenarios including roadworks, speed bumps, bright scenes, a number of loop closure events, multi-lane roads and roundabouts.

The data consists of visual data from a calibrated stereo pair, translation and orientation information as a ground truth from an XSens Mti-g INS GPS and additional information from a USB NMEA GPS. The full set of images is available as separated 1.95GB RAR files, while a smaller subset of 100 images in both raw and debayered/undistorted formats is also available. MD5 checksums are provided on large files to ensure integrity of downloaded data. 

Data time period: 15 12 2010 to 15 12 2010

This dataset is part of a larger collection

Click to explore relationships graph
Help

Related Publications

  • Associated with Warren, M., McKinnon, D., & Upcroft, B. (2013). Online calibration of stereo rigs for long-term autonomy. Paper presented at the 2013 IEEE International Conference on Robotics and Automation (ICRA). Retrieved from
    uri : eprints.qut.edu.au/60978/
  • Associated with Warren, Michael, McKinnon, David, He, Hu, & Upcroft, Ben (2010) Unaided stereo vision based pose estimation. In Australasian Conference on Robotics and Automation (ACRA 2010), 1-3 December 2010, Brisbane, Queensland.
    uri : eprints.qut.edu.au/39881/

Related Organisations

Related People

153.00744,-27.49174 153.00302,-27.49223 152.99868,-27.49166 152.99362,-27.49196 152.98976,-27.49749 152.99113,-27.50233 152.99684,-27.50393 152.998,-27.50575 153.00177,-27.50659 153.01379,-27.50323 153.02134,-27.50194 153.01825,-27.49417 153.0137,-27.49075 153.01362,-27.49075 153.00744,-27.49174

153.0055495,-27.4986685

Subjects
Adaptive Agents and Intelligent Robotics | Bundle Adjustment | Engineering | Information and Computing Sciences | Information and Computing Science | Pose Estimation | Spatial Data | Stereo Vision | Vision |

User Contributed Tags    

Login to tag this record with meaningful keywords to make it easier to discover

Identifiers
  • Local : 10378.3/8085/1018.14938
Similar data you may be interested in: