Vehicle Summary

The Robot used to collect this data set was Lisa. It’s drive unit is an RMP200 from Segway (which provides wheel counts and roll and pitch measurements). The table below describes the sensors it is equipped with and the modes in which they are configured.

Sensors

Sensor Description Log Format
Odometry 28Hz Roll and Pitch from segway base. Yaw and displacement integrated from wheel counts. plain text
Laser Two LMS 291-S14 scanning over 90o at 75 Hz with 0.5o resolution in body-vertical plane on sides of vehicle range. 13 bit range and 8 bit reflectivity. plain text
Stereo Point Grey Bumbleebee, 20 Hz 512×384 grayscale (camera parameters shown below). timestamped pnm files
Panoramic Camera LadyBug 2, 5 images per frame 384×512 colour at 3Hz. timestamped jpg file
GPS CSI Seres 5Hz, with DGPS correction using WAAS/EGNOS. Intermittent reception due to urban setting. plain text

Sensor Geometry

Rotation Conventions

Where applicable we have adopted a right handed, fixed axis “RPY” euler angle parameterisation of rotation :

  • Roll, rotation by  about the body y-axis followed by
  • Pitch, rotation by  about the original body x-axis followed by
  • Yaw, rotation by  about the original body z-axis:

such that the overal 3 x RPY rotation matrix R is

Note the vehicle has a y-forward axis

Bumblebee camera parameters

For stereo processing, the following camera parameters are provided for rectified images:

Image width 512 pixels
Image height 384 pixels
Focal length 389.956085 pixels
Image center x 254.903519 pixels
Image center y 201.899490 pixels
Camera baseline 0.120005 m
Camera internal time delay 0.05 s

Note: All timestamps are times data reaches the computer. To get the time the images were taken camera internal time delay must be subtracted from the timestamp.

Note: Stereo images are on average taken at 20Hz. Every so often an image pair is dropped, and hence not recorded to disk.