- After the review is complete, we plan to release the new version.
- Finally, our paper is accepted in IEEE Sensor Letter!!
- We will provide the final citation once the paper is published.
- The dataset is provided on-demand, by following a request link. Please fill out a simple form to us, and you will get a automated response mail containing full download links.
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DiTer: Diverse Terrain and Multi-Modal Dataset for Field Robot Navigation in Outdoor Environments
- Accepted in IEEE Sensors Letter 2023
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Sensor Configuration
- We configure the legged robot with various sensors offered in multi-session datasets.
- Our perceptual sensor data.
- Using the camera-lidar calibration toolbox, we calibrate camera-LiDAR and thermal-LiDAR.
- For calibrating thermal camera and LiDAR, we proceed by inverting the thermal image due to the opposite nature of heat and color characteristics.
- Utilizing the FAST-LIO, we provide a reference trajectory.
- We construct a global map by accumulating pointclouds through the reference trajectory.
@article{jeongditer,
title={DiTer: Diverse Terrain and Multi-Modal Dataset for Field Robot Navigation in Outdoor Environments},
author={Jeong, Seokhwan and Kim, Hogyun and Cho, Younggun}
}
- Seokhwan Jeong ([email protected])
- Hogyun Kim ([email protected])