DeepAI AI Chat
Log In Sign Up

OdomBeyondVision: An Indoor Multi-modal Multi-platform Odometry Dataset Beyond the Visible Spectrum

06/03/2022
by   Peize Li, et al.
University of Oxford
University of Liverpool
Monash University
0

This paper presents a multimodal indoor odometry dataset, OdomBeyondVision, featuring multiple sensors across the different spectrum and collected with different mobile platforms. Not only does OdomBeyondVision contain the traditional navigation sensors, sensors such as IMUs, mechanical LiDAR, RGBD camera, it also includes several emerging sensors such as the single-chip mmWave radar, LWIR thermal camera and solid-state LiDAR. With the above sensors on UAV, UGV and handheld platforms, we respectively recorded the multimodal odometry data and their movement trajectories in various indoor scenes and different illumination conditions. We release the exemplar radar, radar-inertial and thermal-inertial odometry implementations to demonstrate their results for future works to compare against and improve upon. The full dataset including toolkit and documentation is publicly available at: https://github.com/MAPS-Lab/OdomBeyondVision.

READ FULL TEXT

page 1

page 3

page 4

page 5

03/05/2023

Robust Multi-Modal Multi-LiDAR-Inertial Odometry and Mapping for Indoor Environments

Integrating multiple LiDAR sensors can significantly enhance a robot's p...
03/09/2023

Pohang Canal Dataset: A Multimodal Maritime Dataset for Autonomous Navigation in Restricted Waters

This paper presents a multimodal maritime dataset and the data collectio...
01/07/2022

Continuous-time Radar-inertial Odometry for Automotive Radars

We present an approach for radar-inertial odometry which uses a continuo...
10/13/2020

xVIO: A Range-Visual-Inertial Odometry Framework

xVIO is a range-visual-inertial odometry algorithm implemented at JPL. I...
05/29/2021

Radar Odometry Combining Probabilistic Estimation and Unsupervised Feature Learning

This paper presents a radar odometry method that combines probabilistic ...
03/07/2022

Multi-Modal Lidar Dataset for Benchmarking General-Purpose Localization and Mapping Algorithms

Lidar technology has evolved significantly over the last decade, with hi...
03/03/2019

Keyframe-based Direct Thermal-Inertial Odometry

This paper proposes an approach for fusing direct radiometric data from ...