Dataset: UAL eCARM 3D LiDAR & RTK GPS (2018-02-26)

This page describes the dataset, and the particle filter localization experiments (including how to reproduce them), reported in the following work:

@article{blanco2019bpf,
author = {Blanco, Jos{’{e}}-Luis and Ma{~{n}}as-Alvarez, Francisco and Torres, Jose Luis and Rodriguez-Diaz, Francisco and Gim{’{e}}nez-Fern{’{a}}ndez, Antonio},
month = {jul},
title = {Benchmarking Particle Filter Algorithms for Efficient Velodyne-based Vehicle Localization},
journal = {Sensors},
volume = {19},
number = {14},
year = {2019},
url = {https://www.mdpi.com/1424-8220/19/14/3155},
doi = {10.3390/s19143155}
}

See this YouTube video for a global localization experiment.

Requisites

Install MRPT:

Dataset description

The following pictures illustrate the different sensors available on the vehicle:
side_sensors
side_frames

top_sensors
top_frames

Dataset download

Download the following files:

Other files available for download:

How to reproduce the experiments:

Pose tracking (small initial uncertainty)

Relocalization in the entire campus (large initial uncertainty)