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News!

  • 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.

Download

  • 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.

DiTer

  • DiTer: Diverse Terrain and Multi-Modal Dataset for Field Robot Navigation in Outdoor Environments

    • Accepted in IEEE Sensors Letter 2024

  • Sensor Configuration

    • We configure the legged robot with various sensors offered in multi-session datasets.

Example Sequence in HILL01-A

  • Our perceptual sensor data.

Calibration

  • 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.

Trajectory

  • Utilizing the FAST-LIO, we provide a reference trajectory.

Map

  • We construct a global map by accumulating pointclouds through the reference trajectory.

Cite DiTer


@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}
}

Contact

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