INVESTIGADORES
PIRE Taihu Aguara Nahuel
artículos
Título:
The Rosario dataset: Multisensor data for localization and mapping in agricultural environments
Autor/es:
PIRE, TAIHÚ; MUJICA, MARTÍN; CIVERA, JAVIER; KOFMAN, ERNESTO
Revista:
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
Editorial:
SAGE PUBLICATIONS LTD
Referencias:
Año: 2019 vol. 36 p. 633 - 641
ISSN:
0278-3649
Resumen:
In this paper we present the Rosario dataset, a collection of sensor data for autonomous mobile robotics in agricultural scenes. The dataset is motivated by the lack of realistic sensor readings gathered by a mobile robot in such environments. It consists of six sequences recorded in soybean fields showing real and challenging cases: highly repetitive scenes, reflection, and burned images caused by direct sunlight and rough terrain among others. The dataset was conceived in order to provide a benchmark and contribute to the agricultural simultaneous localization and mapping (SLAM)/odometry and sensor fusion research. It contains synchronized readings of several sensors: wheel odometry, inertial measurement unit (IMU), stereo camera, and a Global Positioning System real-time kinematics (GPS-RTK) system. The dataset is publiclyavailable from http://www.cifasis-conicet.gov.ar/robot/.
