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Datasets of Long Range Navigation Experiments in a Moon Analogue Environment on Mount Etna

Vayugundla, Mallikarjuna and Steidle, Florian and Smisek, Michal and Schuster, Martin and Bussmann, Kristin and Wedler, Armin (2018) Datasets of Long Range Navigation Experiments in a Moon Analogue Environment on Mount Etna. In: 50th International Symposium on Robotics, pp. 1-7. ISR 2018; 50th International Symposium on Robotics, 20-21 June 2018, Munich, Germany.

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Long range navigation capabilities are crucial to increase the level of autonomy for robotic planetary exploration missions. As the opportunities to collect data on the surfaces of other planets are both very limited and expensive, space analogue sites on Earth play an important role to develop and test robotic systems. We provide and present two datasets captured with our Lightweight Rover Unit (LRU) at a planetary surface analogue test site on Mt. Etna, Sicily, Italy. In distinction to many other robot navigation datasets, we were able to capture datasets in an environment that is in terms of its visual and terramechanical properties close to the character of surfaces of rocky planets, hence making our data valuable for the development of visual-inertial navigation systems for planetary and unstructured GPS-denied outdoor environments. We make both of our datasets publicly available and free to download for other researchers to use them to test, improve and evaluate their navigation methods. We provide raw data in the form of ROS bagfiles containing gray-scale images, dense depth images, sensor readings from an Inertial Measurement Unit (IMU) and wheel odometry estimates. In addition, the data contains ground truth for the rover trajectory obtained via differential GPS (DGPS) to allow an evaluation of robot localization methods. The datasets were recorded during experiments, in which our rover traversed paths of approximately 1 km in length each. This makes them useful for testing pose estimation methods over long ranges.

Item URL in elib:https://elib.dlr.de/124514/
Document Type:Conference or Workshop Item (Speech)
Title:Datasets of Long Range Navigation Experiments in a Moon Analogue Environment on Mount Etna
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Vayugundla, MallikarjunaUNSPECIFIEDhttps://orcid.org/0000-0002-9277-0461UNSPECIFIED
Steidle, FlorianUNSPECIFIEDhttps://orcid.org/0000-0001-6935-9810UNSPECIFIED
Schuster, MartinUNSPECIFIEDhttps://orcid.org/0000-0002-6983-3719UNSPECIFIED
Wedler, ArminUNSPECIFIEDhttps://orcid.org/0000-0001-8641-0163UNSPECIFIED
Journal or Publication Title:50th International Symposium on Robotics
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Page Range:pp. 1-7
Keywords:Datasets, Mt. Etna, Moon Analogue Environment, Mapping, Navigation, Long Range
Event Title:ISR 2018; 50th International Symposium on Robotics
Event Location:Munich, Germany
Event Type:international Conference
Event Dates:20-21 June 2018
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Vorhaben Multisensorielle Weltmodellierung (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Deposited By: Vayugundla, Mallikarjuna
Deposited On:11 Dec 2018 12:03
Last Modified:29 Mar 2023 00:40

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