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.
|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|
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.