Collecting Larg-Scale Robotic Datasets on a High-Speed Mobile Platform
<|reference_start|>Collecting Larg-Scale Robotic Datasets on a High-Speed Mobile Platform: 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.<|reference_end|>
@article{lin2024collecting,
    title={Collecting Larg-Scale Robotic Datasets on a High-Speed Mobile Platform},
    author={Yuxin Lin and Jiaxuan Ma and Sizhe Gu and Jipeng Kong and Bowen Xu and
  Xiting Zhao and Dengji Zhao and Wenhan Cao and S"oren Schwertfeger},
    journal={arXiv preprint arXiv:2408.00545},
    year={2024},
    archivePrefix={arXiv},
    eprint={2408.00545},
    primaryClass={cs.RO}
}