Range-only data set

Data sets content

This web-site provides 6 different data sets focused on range-only perception using aerial vehicles. The data sets include 3 real experiments for indoor environments and 3 real experiments for outdoor environments. All data sets are logged and also processed using ROS fuerte tools, such as the rosbag package. Data sets are also provided as plain text files suitable for its use in Matlab. Most information stored into the logs also follows ROS fuerte interfaces and development main guidelines, so that the reader can easily understand the data set with minimum ROS background. Out of standard ROS fuerte messages, these data sets use standard messages for micro aerial vehicles (MAV) using interfaces defined in ROS package mav_tools. On the other hand, range-only measurements follow a simple interface defined by the GRVC research group at University of Seville in ROS package nanotron_swarm.

The log files per data set contain the following information:

Precise robot positioning using:
- VICON tracking system for indoor environments
- Differential GPS for outdoor environments
Barometric altimeter measurememnts
Range-only sensor measurements
Camera info
Compressed RGB images
Visual markers
Coordinate frames relation between robot and sensors

System overview

System and Environments

The experiments were caried out with the Pelican Quadcopter from Ascending Technologies. The aerial robot was endowed with a range-only sensor and a barometric altimeter. In the case of indoor experiments, some VICON markers were attached to the aerial robot to record the ground truth of the robot position using the VICON tracking system. For outdoor experiments the aerial robot included a camera for synthetic markers detection and area recognition and a differential GPS antena used as ground truth of the robot position.

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Related publications

The following list contains some publications which make use of these data sets:

[1] F. R. Fabresse, F.Caballero, I.Maza and A.Ollero, “Robust Range-Only SLAM for Unmanned Aerial Systems“, J Intell Robot Syst, pp. 1–14, Dec. 2015.
[2] J. C. Fernández, J. R. Martinez-de-Dios, I. Maza, F. R. Fabresse, and A. Ollero, “Ten years of cooperation between mobile robots and sensor networks,” Int. j. adv. robot. syst, vol. 12, iss. 70, pp. 1-12, 2015.
[3] F. R. Fabresse, F. Caballero, and A. Ollero, “Decentralized simultaneous localization and mapping for multiple aerial vehicles using range-only sensors,” in International Conference on Robotics and automation (ICRA), 2015 IEEE, 2015, pp. 6408-6414.
[4] F. R. Fabresse, F. Caballero, I. Maza, and A. Ollero, “Localización de vehículos aéreos basada en 3D RO-SLAM con inicialización no retardada empleando mezcla de gaussianas.”, in First Iberian Robotics Conference ROBOT 2013, Centre for Automation and Robotics (CAR), Universidad Politécnica de Madrid (UPM), Madrid, Spain

Get in touch

Feel free to contact us to provide some feedback on the data sets or if you want to add a publication which make use of this data set in the list of related publications.

Felipe R.Fabresse
Fernando Caballero
GRVC Research Group Website
Escuela Superior de Ingenieros, Departamento de Ingeniería de Sistemas y Automática, Universidad de Sevilla: Av. Camino de los Descubrimientos S/N (Seville, Spain)