Mapping system

Sensors

• Velodyne PUCK VLP-16
• Velodyne ULTRAPUCK VLP-32c
• Livo TELE-15
• AHRS IMU

Livox	VLP32c	VLP16	All

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:

Youtube video

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 3D
• aIV_processed.laz Fourth level FARO FOCUS 3D
• aVI_processed.laz Sixth level FARO FOCUS 3D
• aV_processed.laz Fifth level FARO FOCUS 3D
• aVIII_processed.laz Eigth level FARO FOCUS 3D
• azrab_processed.laz Enter level FARO FOCUS 3D
• livox_*****_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

Gallery