Knowledge Resource Center for Ecological Environment in Arid Area
| DOI | 10.1002/rob.22016 |
| The MADMAX data set for visual-inertial rover navigation on mars | |
| Meyer, Lukas; Smisek, Michal; Villacampa, Alejandro Fontan; Maza, Laura Oliva; Medina, Daniel; Schuster, Martin J.; Steidle, Florian; Vayugundla, Mallikarjuna; Mueller, Marcus G.; Rebele, Bernhard; Wedler, Armin; Triebel, Rudolph | |
| 通讯作者 | Meyer, L (corresponding author), German Aerosp Ctr DLR, Inst Robot & Mechatron, Dept Percept & Cognit, Muenchener Str 20, D-82234 Wessling, Germany. |
| 来源期刊 | JOURNAL OF FIELD ROBOTICS
 |
| ISSN | 1556-4959 |
| EISSN | 1556-4967 |
| 出版年 | 2021 |
| 英文摘要 | Planetary rovers increasingly rely on vision-based components for autonomous navigation and mapping. Developing and testing these components requires representative optical conditions, which can be achieved by either field testing at planetary analog sites on Earth or using prerecorded data sets from such locations. However, the availability of representative data is scarce and field testing in planetary analog sites requires a substantial financial investment and logistical overhead, and it entails the risk of damaging complex robotic systems. To address these issues, we use our compact human-portable DLR Sensor Unit for Planetary Exploration Rovers (SUPER) in the Moroccan desert to show resource-efficient field testing and make the resulting Morocco-Acquired data set of Mars-Analog eXploration (MADMAX) publicly accessible. The data set consists of 36 different navigation experiments, captured at eight Mars analog sites of widely varying environmental conditions. Its longest trajectory covers 1.5 km and the combined trajectory length is 9.2 km. The data set contains time-stamped recordings from monochrome stereo cameras, a color camera, omnidirectional cameras in stereo configuration, and from an inertial measurement unit. Additionally, we provide the ground truth in position and orientation together with the associated uncertainties, obtained by a real-time kinematic-based algorithm that fuses the global navigation satellite system data of two body antennas. Finally, we run two state-of-the-art navigation algorithms, ORB-SLAM2 and VINS-mono, on our data to evaluate their accuracy and to provide a baseline, which can be used as a performance reference of accuracy and robustness for other navigation algorithms. The data set can be accessed at . |
| 英文关键词 | exploration extreme environments navigation planetary robotics SLAM |
| 类型 | Article ; Early Access |
| 语种 | 英语 |
| 开放获取类型 | Other Gold, Green Accepted |
| 收录类别 | SCI-E |
| WOS记录号 | WOS:000631643600001 |
| WOS类目 | Robotics |
| WOS研究方向 | Robotics |
| 资源类型 | 期刊论文 |
| 条目标识符 | http://119.78.100.177/qdio/handle/2XILL650/352324 |
| 作者单位 | [Meyer, Lukas; Smisek, Michal; Villacampa, Alejandro Fontan; Maza, Laura Oliva; Schuster, Martin J.; Steidle, Florian; Vayugundla, Mallikarjuna; Mueller, Marcus G.; Wedler, Armin; Triebel, Rudolph] German Aerosp Ctr DLR, Inst Robot & Mechatron, Dept Percept & Cognit, Muenchener Str 20, D-82234 Wessling, Germany; [Medina, Daniel] German Aerosp Ctr DLR, Inst Commun & Nav, Dept Naut Syst, Neustrelitz, Germany; [Rebele, Bernhard] German Aerosp Ctr DLR, Inst Robot & Mechatron, Anal & Control Adv Robot Syst, Wessling, Germany |
| 推荐引用方式 GB/T 7714 | Meyer, Lukas,Smisek, Michal,Villacampa, Alejandro Fontan,et al. The MADMAX data set for visual-inertial rover navigation on mars[J],2021. |
| APA | Meyer, Lukas.,Smisek, Michal.,Villacampa, Alejandro Fontan.,Maza, Laura Oliva.,Medina, Daniel.,...&Triebel, Rudolph.(2021).The MADMAX data set for visual-inertial rover navigation on mars.JOURNAL OF FIELD ROBOTICS. |
| MLA | Meyer, Lukas,et al."The MADMAX data set for visual-inertial rover navigation on mars".JOURNAL OF FIELD ROBOTICS (2021). |
| 条目包含的文件 | 条目无相关文件。 | |||||
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