The Canadian planetary emulation terrain 3D mapping dataset

作者：Tong Chi Hay^*; Gingras David; Larose Kevin; Barfoot Timothy D; Dupuis Erick

来源：The International Journal of Robotics Research, 2013, 32(4): 389-395.

DOI：10.1177/0278364913478897

• mobile and distributed robotics SLAM
• space robotics
• field and service robotics

This paper describes a collection of 272 three-dimensional laser scans gathered at two unique planetary analogue rover test facilities in Canada, which offer emulated planetary terrain at manageable scales for algorithmic development. This dataset is subdivided into four individual subsets, each gathered using panning laser rangefinders on different mobile rover platforms. This data should be of interest to field robotics researchers developing rover navigation algorithms suitable for use in three-dimensional, unstructured, natural terrain. All of the data are presented in human-readable text files, and are accompanied by Matlab parsing scripts to facilitate use thereof. This paper provides an overview of the available data.

• 出版日期2013-4