期刊
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
卷 38, 期 6, 页码 633-641出版社
SAGE PUBLICATIONS LTD
DOI: 10.1177/0278364919841437
关键词
Precision agriculture; SLAM; agricultural robotics
类别
资金
- Spanish government [DPI2015-67275]
- Aragon regional government [Grupo DGA-T45_17R/FSE]
In this paper we present the Rosario dataset, a collection of sensor data for autonomous mobile robotics in agricultural scenes. The dataset is motivated by the lack of realistic sensor readings gathered by a mobile robot in such environments. It consists of six sequences recorded in soybean fields showing real and challenging cases: highly repetitive scenes, reflection, and burned images caused by direct sunlight and rough terrain among others. The dataset was conceived in order to provide a benchmark and contribute to the agricultural simultaneous localization and mapping (SLAM)/odometry and sensor fusion research. It contains synchronized readings of several sensors: wheel odometry, inertial measurement unit (IMU), stereo camera, and a Global Positioning System real-time kinematics (GPS-RTK) system. The dataset is publicly available from http://www.cifasis-conicet.gov.ar/robot/. .
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据