M3DSS-dataset

Handheld

Introduction

The handheld platform possesses an outstanding characteristic of flexibility. M3DSS Handheld introduces a comprehensive dataset including both outdoor and indoor scenes, provides multiple sensors' records under various texture, obstacle situations, levels of motion deviation, and lighting conditions. To ensure the capture of sufficient data in different scenes, our platform includes multiple sensors, including 3D Mechanical LiDAR, Solid-state LiDAR, RGB-D Camera, IMU, GNSS/INS-RTK(outdoor), RGB Camera and four Event Cameras. The sensor setup is similar to that of M3DSS Quadruped_robot and M3DSS UGV, enhancing the versatility and ease of use of our datasets.


Sensor list

(1)3D Mechanical LiDAR(VLP-32C)

Frequency:

10Hz

FOV:

360°(Horizontal),-25°~15°(Vertical)

Beam:

32

Distance:

up to 200m

(2)Solid-state LiDAR (Livox Mid-360)

Frequency:

10Hz

FOV:

360°(Horizontal),59°(Vertical)

Distance:

up to 70m

(3)RGB-D Camera (Lslidar C16)

Frequency:

30Hz

Resolution:

1280*720 pixel

FOV:

87°(Horizontal),58°(Vertical)

(4)IMU (Hipnuc CH104_UM_CN)

Frequency:

400Hz

(5)GNSS/INS-RTK (Hipnuc CH310S)

Frequency:

400Hz

(6)RGB Camera (Hikrobot MV-CI003-GL-N6)

Frequency:

20Fps

Resolution:

1440*1080 pixel

FOV:

96.8°(Horizontal),79.4°(Vertical)

(7)Event Camera

Inivation DAVIS346-color:

Quantity:

X2

     

Inivation DVXplorer:

Quantity:

X2

Frequency:

1000Hz

     

Frequency:

1000Hz

Resolution:

346×260 pixel

     

Resolution:

640×480 pixel

IMU:

MPU6150, 6-axis

     

IMU:

MPU6150, 6-axis


Sensor setups

Image description Image description

CAD drawings

Image description Image description Image description

Calibration rosbag and Our calibration result

title1

title2

title3

title4
Image Image Image Image

Calibration：rosbag

Calibration：rosbag

Calibration：rosbag

Calibration：rosbag

Our calibration result：txt


Data

Parkway loop day

Parkway loop night
Image Image

Data： rosbag

Groud-Truth： rosbag

Data: rosbag

Groud-Truth: rosbag


Parkway eight loop day

Parkway eight loop night
Image Image

Data： rosbag

Groud-Truth： rosbag

Data： rosbag

Groud-Truth： rosbag


Elevator

Escalator
Image Image

Data： rosbag

Groud-Truth： rosbag

Data： rosbag

Groud-Truth： rosbag


Underground

Corridor
Image Image

Data： rosbag

Groud-Truth： rosbag

Data： rosbag

Groud-Truth： rosbag


Indoor loop

Forest
Image Image

Data： rosbag

Groud-Truth： rosbag

Data： rosbag

Groud-Truth： rosbag


MCR normal light

MCR normal dark
Image Image

Data： rosbag

Groud-Truth： rosbag

Data： rosbag

Groud-Truth： rosbag


MCR normal hdr

MCR aggressive trans light
Image Image

Data： rosbag

Groud-Truth： rosbag

Data： rosbag

Groud-Truth： rosbag


MCR aggressive trans dark

MCR aggressive rot light
Image Image

Data： rosbag

Groud-Truth： rosbag

Data： rosbag

Groud-Truth： rosbag

MCR aggressive rot dark

MCR aggressive 6dof light
Image Image

Data： rosbag

Groud-Truth： rosbag

Data： rosbag

Groud-Truth： rosbag


MCR aggressive 6dof dark

MCR aggressive 6dof hdr
Image Image

Data： rosbag

Groud-Truth： rosbag

Data： rosbag

Groud-Truth： rosbag



All topics published by handheld platform

Sensors Topics
Event cameras /DAVIS346_left/events
/DAVIS346_left/image
/DAVIS346_left/imu
/DAVIS346_right/events
/DAVIS346_right/image
/DAVIS346_right/imu
IMU /IMU_data
VI-sensor /camera/infra1/image_rect_raw
/camera/infra2/image_rect_raw
Infrared camera /hikrobot_infrared_camera/rgb
RGB cameras /hikrobot_left_camera/rgb
/hikrobot_right_camera/rgb 
Solid-State LiDAR /livox/imu
/livox/lidar
Mechanical LiDAR /velodyne_packets
/velodyne_points
NOKOV ground truth (part) /vrpn_client_node/Trackerxx/pose