LiDAR Degeneracy Datasets

Dataset associated with submission for handling LiDAR-degenerative environments through LiDAR-radar-inertial fusion with factor graphs.

The datasets consist of sensor measurements (IMU, LiDAR, and FMCW radar) of an aerial robot manually flown through environments challenging for LiDAR sensors. These are a biking tunnel (geometric self-similarity) and a university corridor filled with fog (obscurants). In addition CAD extrinsics between the sensors are provided.

Environments

Fyllingsdalen Tunnel

Manual flight along a 8m-wide, 500m-long, straight section of a biking tunnel in Bergen, Norway.

Bag files can be found here

Fog-Filled University Corridor

Manual flight in a university environment in the Elektro building of NTNU in Trondheim, Norway. The first corridor flown through after takeoff is filled with dense fog.

Bag files can be found here

Robot Equipiment

Drone

Sensors

Synchronized using microcontroller-based internally developed synchronization/triggering module

• Ouster OS0-128 LiDAR
• VectorNav VN100 IMU
• Texas Instruments IWR6843AOP-EVM Radar

The header time stamp for IMU and radar originate from the triggering module, to replay the trigger-stamped LiDAR data from packet topics use this driver.

Topics

Source	Topic	Rate [Hz]
Triggering	- /sensor_sync_node/trigger_0<br>- /sensor_sync_node/trigger_1	- 800<br>- 10
IMU	/vectornav_node/uncomp_imu	200
LiDAR	- /os_cloud_node/imu_packets<br>- /os_cloud_node/lidar_packets<br>- /os_cloud_node/metadata	10
Radar	/radar/cloud	10

Extrinsics

All extrinsics are given with respect to the IMU

LiDAR

• translation [x, y, z]
  • [-0.00171, 0.02149, 0.0358]
• orientation [x, y, z, w]
  • [0.000462, 0.0008483, 0.0028835, 0.9999954]

Radar

• translation [x, y, z]
  • [0.07771, 0.02141, -0.03631]
• orientation [x, y, z, w]
  • [0.953717, 0, -0.3007058, 0]

Acknowledgements

We thank the Vestland Fylkeskommune for providing access to the Fyllingsdal sykkeltunnel.

Reference

If you use this work in your research, please cite the following publication:

Degradation Resilient LiDAR-Radar-Inertial Odometry (link)

bibtexCopy
@inproceedings{nissov2024degradation,
  author={Nissov, Morten and Khedekar, Nikhil and Alexis, Kostas},
  booktitle={2024 IEEE International Conference on Robotics and Automation (ICRA)}, 
  title={Degradation Resilient LiDAR-Radar-Inertial Odometry}, 
  year={2024},
  pages={8587-8594},
  doi={10.1109/ICRA57147.2024.10611444}
}