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:

From sources,
using apt for Debian/Ubuntu systems,
or from the binary downloads for Windows.

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:

map1.simplemap: The ground-truth map. Can be visualized with the application robot-map-gui.
map1_test1_cut.rawlog: A small fragment of the dataset, used for the localization experiments.

Other files available for download:

dataset_2018-02-26_merged.rawlog (1 GB): the original dataset, in MRPT .rawlog format. Use RawLogViewer to inspect it.
2018-02-26-ual-campus-map.zip: A ZIP containing: the .simplemap of the ENTIRE UAL campus map; a TXT with the pointcloud of the entire campus; the trajectory of the vehicle used as ground-truth (ENU coordinates, from RTK data); the GNNS coordinates used as ENU origin for both the point cloud the vehicle poses.

How to reproduce the experiments:

Pose tracking (small initial uncertainty)

Download pf-tracking.ini and put it in the same directory than the rest of .simplemap and .rawlog files.
Make sure you installed MRPT (e.g. sudo apt-get install mrpt-apps in Ubuntu), and that you have MRPT version >=1.9.9, running pf-localization.
Run the experiment:
```
 pf-localization pf-tracking.ini 
```

Relocalization in the entire campus (large initial uncertainty)

Download pf-global.ini and put it in the same directory than the rest of .simplemap and .rawlog files.
After installing MRPT (e.g. sudo apt-get install mrpt-apps in Ubuntu), run:
```
 pf-localization pf-global.ini 
```