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arXiv · 2408.00545

Collecting Larg-Scale Robotic Datasets on a High-Speed Mobile Platform

Yuxin Lin·Jiaxuan Ma·Sizhe Gu·Jipeng Kong·Bowen Xu·Xiting Zhao·Dengji Zhao·Wenhan Cao·Sören Schwertfeger
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Abstract

Mobile robotics datasets are essential for research on robotics, for example for research on Simultaneous Localization and Mapping (SLAM). Therefore the ShanghaiTech Mapping Robot was constructed, that features a multitude high-performance sensors and a 16-node cluster to collect all this data. That robot is based on a Clearpath Husky mobile base with a maximum speed of 1 meter per second. This is fine for indoor datasets, but to collect large-scale outdoor datasets a faster platform is needed. This system paper introduces our high-speed mobile platform for data collection. The mapping robot is secured on the rear-steered flatbed car with maximum field of view. Additionally two encoders collect odometry data from two of the car wheels and an external sensor plate houses a downlooking RGB and event camera. With this setup a dataset of more than 10km in the underground parking garage and the outside of our campus was collected and is published with this paper.

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Yuxin Lin, Jiaxuan Ma, Sizhe Gu, Jipeng Kong, Bowen Xu, Xiting Zhao, Dengji Zhao, Wenhan Cao, Sören Schwertfeger. 2024-08-01. Collecting Larg-Scale Robotic Datasets on a High-Speed Mobile Platform. https://arxiv.org/abs/2408.00545

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