The ARVC Outdoor Dataset

OVERVIEW

The ARVC Dataset gathers a set of data from trajectories performed with a Husky A200 robot at the Miguel Hernández University of Elche (Alicante, Spain). This database is intended to test navigation, mapping and localization algoritmhs for mobile robots. It contains LiDAR, frontal and posterior fish-eye images, ODOMETRY, GPS/RTK and IMU.

The database includes the following sensorial information: Odometry, GPS, IMU, laser and omnidirectional color images. It has been captured during different times of the day (Morning, Midday, Afternoon and Evening) and also in different days.

DETAILS

Technical data

• Robot platform: Husky A200 @ maximum speed 1 m/s
• Lidar: Ouster OS1-128 @ 10/20 Hz
• IMU:UM7 from redshiftlabs
• Catadioptric camera: Imaging Source DFK 37BUX264 (2448x2048) @ 1 FPS
• Fish-eye lens camera: Garmin VIRB 360, 2 images (2496x2496), FoV: 201.8° @ 30 FPS
• GPS: Harxon Ts100 @1Hz

Format

• Standard ROSBAG captured during the experiment.
• EUROC/ASL format with minor variations.
In the standard EUROC/ASL rosbags are extracted to a set of directories. Each directory contains information from a singl sensor. Sensors data are stored in a folders with their name (camera, gps, imu, odom, lidar, etc.). In each directory, two files are found:
• A data.csv file : contains the timestamp and, depending on the sensor, the relevant data.
• A /data directory, which stores images and LIDAR pointclouds.
Their file names are in the format of {TIMESTAMP}.ext, where .ext is the corresponding extension (.png, .csv, .pcd, etc.) .

For example, 2022-11-28-11-24-49/robot0/camera/data/1669631090139103000.png encodes the following information.

• The place scan was captured on 28/11/2022 and started at 11:24:49 .
• The timestamp in Unix epoch time is 1669631090139103.000.

DOWNLOAD

NAME	DATE	ID	INDOOR/OUTDOOR	SENSORS	ILLUMINATION	FILES	MAPS
I1	2024-03-06	I1-2024-03-06-13-44-09	Indoor	ODO, IMU, LIDAR (points=yes, reflectance=yes)	(irrelevant)	.bag .euroc Map LiDAR details
I2	2024-03-06	I2-2024-03-06-13-50-58	Indoor	ODO, IMU, LIDAR (points=yes, reflectance=yes)	(irrelevant)	.bag .euroc Map LiDAR details
I3	2024-04-22	I3-2024-04-22-15-21-28	Indoor	ODO, IMU, LIDAR (points=yes, reflectance=no)	(irrelevant)	.bag .euroc Map LiDAR details

NAME	DATE	ID	INDOOR/OUTDOOR	SENSORS	ILLUMINATION	FILES	MAPS
O1	2024-03-06	O1-2024-03-06-17-30-39	Outdoor	ODO, IMU, LIDAR (points=yes, reflectance=no), GPS/RTK	Sunny. No clouds.	.bag .euroc Map OSM Map LiDAR details
O2	2024-03-07	O2-2024-03-07-13-33-34	Outdoor	ODO, IMU, LIDAR (points=yes, reflectance=no), GPS/RTK	Sunny. No clouds.	.bag .euroc Map OSM Map LiDAR details
O3	2024-03-18	O3-2024-03-18-17-11-17	Outdoor	ODO, IMU, LIDAR (points=yes, reflectance=no), GPS/RTK	Sunny. No clouds.	.bag .euroc Map OSM Map LiDAR details
O4	2024-04-22	O4-2024-04-22-13-27-47	Outdoor	ODO, IMU, LIDAR (points=yes, reflectance=no), GPS/RTK	Sunny. No clouds.	.bag .euroc Map OSM Map LiDAR details
O5	2024-04-24	O5-2024-04-24-12-47-35	Outdoor	ODO, IMU, LIDAR (points=yes, reflectance=no), GPS/RTK	Sunny. No clouds.	.bag .euroc Map OSM Map LiDAR details
O6	2024-04-10	O6-2024-04-10-11-09-24	Outdoor	ODO, IMU, LIDAR (points=yes, reflectance=no), GPS/RTK	Sunny. No clouds.	.bag .euroc Map OSM Map LiDAR details
O7	2024-04-22	O7-2024-04-22-13-45-50	Outdoor	ODO, IMU, LIDAR (points=yes, reflectance=no), GPS/RTK	Sunny. No clouds.	.bag .euroc Map OSM Map LiDAR details
O8	2024-04-24	O8-2024-04-24-13-05-16	Outdoor	ODO, IMU, LIDAR (points=yes, reflectance=no), GPS/RTK	Sunny. No clouds.	.bag .euroc Map OSM Map LiDAR details

NAME	DATE	ID	INDOOR/OUTDOOR	SENSORS	ILLUMINATION	FILES
IO1	2024-05-03	IO1-2024-05-03-09-51-52	Outdoor and Indoor	ODO, IMU, LIDAR (points=yes, reflectance=yes), GPS/RTK	Sunny. No clouds.	.bag .euroc Map OSM Map LiDAR details

Publications

Pending Publication...

Visit also

1. ARVC (Automation, Robotics and Computer Vision group): Visit our research group.