The Marulan Data Sets: Multi-sensor Perception in a Natural Environment with Challenging Conditions

Authors:
Thierry Peynot;Steve Scheding;Sami Terho
Affiliations:
ARC Centre of Excellence for Autonomous Systems, AustralianCentre for Field Robotics (ACFR), The University of Sydney, Australia;ARC Centre of Excellence for Autonomous Systems, AustralianCentre for Field Robotics (ACFR), The University of Sydney, Australia;Department of Automation and Systems Technology, AaltoUniversity, Aalto, Finland
Venue:
International Journal of Robotics Research
Year:
2010

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Abstract

In this paper we present large, accurately calibrated and time-synchronized data sets, gathered outdoors in controlled and variable environmental conditions, using an unmanned ground vehicle (UGV), equipped with a wide variety of sensors. These include four 2D laser scanners, a radar scanner, a color camera and an infrared camera. It provides a full description of the system used for data collection and the types of environments and conditions in which these data sets have been gathered, which include the presence of airborne dust, smoke and rain.