Journal
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
Volume 36, Issue 1, Pages 16-23Publisher
SAGE PUBLICATIONS LTD
DOI: 10.1177/0278364916679497
Keywords
Field and service robotics; mapping; mining robotics; SLAM; robotics in hazardous fields; sensing and perception; computer vision; sensor fusion
Categories
Funding
- Conicyt-DAAD [PCCI12009]
- Fondecyt [1150930, 3150066]
- Clearpath Robotics Partnerbot program
- Universidad de Chile
- AMTC
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This article presents a robotic dataset collected from the largest underground copper mine in the world. The sensor measurements from a 3D scanning lidar, a 2D radar, and stereo cameras were recorded from an approximately two kilometer traverse of a production-active tunnel. The equipment used and the data collection process is discussed in detail, along with the format of the data. This dataset is suitable for research in robotic navigation, as well as simultaneous localization and mapping. The download instructions are available at the following website http://dataset.amtc.cl.
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