Mapping system
Sensors
- Velodyne PUCK VLP-16
- Velodyne ULTRAPUCK VLP-32c
- Livo TELE-15
- AHRS IMU
Livox | VLP32c | VLP16 | All |
---|---|---|---|
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Time synchronization
Dataset is time synchronized using hardware synchronization. It is using artificial, generated PPS signal and custom acquisition software solution that allows to synchronization of incoming data streams effectively. Since this software solution is extremely hardware specific and requires custom-developed hardware, we decided to do not to release it with the dataset. Feel free to contact us to get tips and recommendations for recreating such or a similar system. Every point has an individual timestamp, synchronization precision is 1-2 milliseconds.
Data acqusitiondistribution. You can use a newer version of ROS1 to work.
Dataset description
- Compression :
BZ2
- Raw data size : 49 Gb
- Length : 69 minutes (10 minutes per file)
Topics
- /imu :
Sensor_msgs/IMU
- /livox :
Sensor_msgs/Pointcloud2
- /velodyne_rot :
Sensor_msgs/Pointcloud2
- /velodyne :
Sensor_msgs/Pointcloud2
- /tf :
tf2_msgs/TFMessage
- /tf_static :
tf2_msgs/TFMessage
Note that used point type is PointXYZIRT
, the header for PCL library can be found here.
Data from AHRS IMU. ROS timestamp in header (also in ‘\tf’ topic) is synchronized to rest of the system.
Sadly, there is no data recorder from IMU in Livox TELE-15
Quick start with data
Files can be visualized using RViz, we provide custom, updated calibration to overide deafult one from rosbag.
Sample of usage: In first terminal start roscore
rosparam set use_sim_time true
roscore
In second terminal start broadcasting new calibration and play bags files:
python mine-mapping-dataset/visualization/publish_custom_calibration.py &
rosbag play day1/mine_mapping_trajectory.bag day1/mine_mapping_0**.bag --clock -s 200 tf_static:=old_tf_static
In the third terminal open rviz:
rviz -d mine-mapping-dataset/visualization/config.rviz
Expected results:
Ground truth data
The environment was mapped with FARO Focus 3D and scans were assembled using geodetic targets.
The data is available here: https://drive.google.com/drive/folders/1kvlYNoj0QT_D8M65nwzR8D8I0pIArhMj?usp=sharing
The location of scans and targets is shown here.
The ground truth data is georeferenced in PL2000 coordinate system.
The files avialable in groundtruth dataset:
aI_processed.laz
First level FARO FOCUS 3DaIV_processed.laz
Fourth level FARO FOCUS 3DaVI_processed.laz
Sixth level FARO FOCUS 3DaV_processed.laz
Fifth level FARO FOCUS 3DaVIII_processed.laz
Eigth level FARO FOCUS 3Dazrab_processed.laz
Enter level FARO FOCUS 3Dlivox_*****_processed.laz
- Reference data from mobile mappng system in PL2000 coordinate system.crosses_with_extrapoint
- Locations of geodetic targets.result_pc_dec0_5.laz
- decimated pointcloud containing all data from FARO FOCUS 3D The names and location of targets in PL2000 coordinate system is given:
target | X | Y | Z |
---|---|---|---|
TS-1 | -86345.352 | 22671.020 | 249.098 |
TS-2 | -86346.390 | 22672.932 | 249.391 |
TS-3 | -86347.665 | 22669.905 | 249.503 |
TS-4 | -86347.457 | 22671.858 | 248.701 |
T1-1 | -86347.239 | 22668.482 | 196.697 |
T1-2 | -86347.484 | 22671.017 | 196.918 |
T4-1 | -86346.082 | 22672.304 | 75.892 |
T4-2 | -86345.222 | 22673.541 | 74.974 |
T6-1 | -86345.387 | 22673.960 | 8.564 |
T6-2 | -86344.347 | 22674.161 | 8.564 |
T8-1 | -86345.550 | 22678.609 | -41.371 |
T8-2 | -86343.015 | 22680.587 | -41.152 |
T8-4 | -86347.258 | 22671.981 | -40.004 |
T8-5 | -86347.847 | 22670.668 | -38.436 |
T8-6 | -86346.088 | 22669.629 | -38.438 |
Download
Current links to download rosbags from mobile system are avaialable here: links.md The georeferenced ground truth is available here: Google Drive