DeepAI AI Chat
Log In Sign Up

CMU-GPR Dataset: Ground Penetrating Radar Dataset for Robot Localization and Mapping

by   Alexander Baikovitz, et al.
Carnegie Mellon University

There has been exciting recent progress in using radar as a sensor for robot navigation due to its increased robustness to varying environmental conditions. However, within these different radar perception systems, ground penetrating radar (GPR) remains under-explored. By measuring structures beneath the ground, GPR can provide stable features that are less variant to ambient weather, scene, and lighting changes, making it a compelling choice for long-term spatio-temporal mapping. In this work, we present the CMU-GPR dataset–an open-source ground penetrating radar dataset for research in subsurface-aided perception for robot navigation. In total, the dataset contains 15 distinct trajectory sequences in 3 GPS-denied, indoor environments. Measurements from a GPR, wheel encoder, RGB camera, and inertial measurement unit were collected with ground truth positions from a robotic total station. In addition to the dataset, we also provide utility code to convert raw GPR data into processed images. This paper describes our recording platform, the data format, utility scripts, and proposed methods for using this data.


page 1

page 2


The Oxford Radar RobotCar Dataset: A Radar Extension to the Oxford RobotCar Dataset

In this paper we present The Oxford Radar RobotCar Dataset, a new datase...

The GRIFFIN Perception Dataset: Bridging the Gap Between Flapping-Wing Flight and Robotic Perception

The development of automatic perception systems and techniques for bio-i...

Real-time Kinematic Ground Truth for the Oxford RobotCar Dataset

We describe the release of reference data towards a challenging long-ter...

Do We Need to Compensate for Motion Distortion and Doppler Effects in Radar-Based Navigation?

In order to tackle the challenge of unfavorable weather conditions such ...

Low-viewpoint forest depth dataset for sparse rover swarms

Rapid progress in embedded computing hardware increasingly enables on-bo...

Detecting and Tracking Communal Bird Roosts in Weather Radar Data

The US weather radar archive holds detailed information about biological...