The Marulan data sets: multi-sensor perception in a natural environment with challenging conditions

Peynot, Thierry, Scheding, Steven, & Terho, Sami (2010) The Marulan data sets: multi-sensor perception in a natural environment with challenging conditions. International Journal of Robotics Research, 29(13), pp. 1602-1607.

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In this paper we present large, accurately calibrated and time-synchronized data sets, gathered outdoors in controlled and variable environmental conditions, using an unmanned ground vehicle (UGV), equipped with a wide variety of sensors. These include four 2D laser scanners, a radar scanner, a color camera and an infrared camera. It provides a full description of the system used for data collection and the types of environments and conditions in which these data sets have been gathered, which include the presence of airborne dust, smoke and rain.

Impact and interest:

37 citations in Scopus
25 citations in Web of Science®
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ID Code: 67660
Item Type: Journal Article
Refereed: Yes
Additional Information: 12027069
Marulan data sets
multisensor perception
natural environment
variable environmental conditions
unmanned ground vehicle
2D laser scanners
radar scanner
color camera
infrared camera
Additional URLs:
Keywords: mobile robots, perception, cameras, laser range finder, radar, sensor fusion
DOI: 10.1177/0278364910384638
ISSN: 0278-3649
Subjects: Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100)
Divisions: Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Copyright Owner: Copyright 2010 SAGE Publications
Deposited On: 06 Mar 2014 01:42
Last Modified: 07 Mar 2014 12:27

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