The Devon Island rover navigation dataset

Authors:
Paul Furgale;Pat Carle;John Enright;Timothy D Barfoot
Affiliations:
Eidgenössische Technische Hochschule Zürich, Switzerland;Eidgenössische Technische Hochschule Zürich, Switzerland;Eidgenössische Technische Hochschule Zürich, Switzerland;Eidgenössische Technische Hochschule Zürich, Switzerland
Venue:
International Journal of Robotics Research
Year:
2012

Citing 1
Cited 1

Long-range rover localization by matching LIDAR scans to orbital elevation maps

Journal of Field Robotics

Field testing of visual odometry aided by a sun sensor and inclinometer

Journal of Field Robotics

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Abstract

In this paper we present a rover navigation dataset collected at a Mars/Moon analogue site on Devon Island, in the Canadian High Arctic. The dataset is split into two parts. The first part contains rover traverse data: stereo imagery, Sun vectors, inclinometer data, and ground-truth position information from a differential global positioning system (DGPS) collected over a 10-km traverse. The second part contains long-range localization data: 3D laser range scans, image panoramas, digital elevation models, and GPS data useful for global position estimation. All images are available in common formats and other data is presented in human-readable text files. To facilitate use of the data, Matlab parsing scripts are included.