/lidar_degeneracy_datasets

LiDAR degeneracy dataset for LiDAR-radar-inertial fusion methods.

BSD 3-Clause "New" or "Revised" LicenseBSD-3-Clause

LiDAR Degeneracy Datasets

Dataset associated with submission for handling LiDAR-degenerative environments through LiDAR-radar-inertial fusion with factor graphs.

The datasets consist of sensor measurements (IMU, LiDAR, and FMCW radar) of an aerial robot manually flown through environments challenging for LiDAR sensors. These are a biking tunnel (geometric self-similarity) and a university corridor filled with fog (obscurants). In addition CAD extrinsics between the sensors are provided.

Environments

Manual flight along a 8m-wide, 500m-long, straight section of a biking tunnel in Bergen, Norway.

fyllingsdalen bycicale tunnel image

Bag files can be found here

Manual flight in a university environment in the Elektro building of NTNU in Trondheim, Norway. The first corridor flown through after takeoff is filled with dense fog.

fog-filled university corridor image

Bag files can be found here

Robot Equipiment

Drone

Sensors

Synchronized using microcontroller-based internally developed synchronization/triggering module

The header time stamp for IMU and radar originate from the triggering module, to replay the trigger-stamped LiDAR data from packet topics use this driver.

Topics
Source Topic Rate [Hz]
Triggering - /sensor_sync_node/trigger_0
- /sensor_sync_node/trigger_1
- 800
- 10
IMU /vectornav_node/uncomp_imu 200
LiDAR - /os_cloud_node/imu_packets
- /os_cloud_node/lidar_packets
- /os_cloud_node/metadata
10
Radar /radar/cloud 10
Extrinsics

All extrinsics are given with respect to the IMU

LiDAR

  • translation [x, y, z]
    • [-0.00171, 0.02149, 0.0358]
  • orientation [x, y, z, w]
    • [0.000462, 0.0008483, 0.0028835, 0.9999954]

Radar

  • translation [x, y, z]
    • [0.07771, 0.02141, -0.03631]
  • orientation [x, y, z, w]
    • [0.953717, 0, -0.3007058, 0]

Acknowledgements

We thank the Vestland Fylkeskommune for providing access to the Fyllingsdal sykkeltunnel.