Complex Urban LiDAR Data Set

Jinyong Jeong; Younggun Cho; Young Sik Shin; Hyunchul Roh; Ayoung Kim

doi:10.1109/ICRA.2018.8460834

Complex Urban LiDAR Data Set

Jinyong Jeong, Younggun Cho, Young Sik Shin, Hyunchul Roh, Ayoung Kim

Korea Advanced Institute of Science and Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

41 Scopus citations

Abstract

This paper presents a Light Detection and Ranging (LiDAR) data set that targets complex urban environments. Urban environments with high-rise buildings and congested traffic pose a significant challenge for many robotics applications. The presented data set is unique in the sense it is able to capture the genuine features of an urban environment (e.g. metropolitan areas, large building complexes and underground parking lots). Data of two-dimensional (2D) and three-dimensional (3D) LiDAR, which are typical types of LiDAR sensors, are provided in the data set. The two 16-ray 3D LiDARs are tilted on both sides for maximal coverage. One 2D LiDAR faces backward while the other faces forwards to collect data of roads and buildings, respectively. Raw sensor data from Fiber Optic Gyro (FOG), Inertial Measurement Unit (IMU), and the Global Positioning System (GPS) are presented in a file format for vehicle pose estimation. The pose information of the vehicle estimated at 100 Hz is also presented after applying the graph simultaneous localization and mapping (SLAM) algorithm. For the convenience of development, the file player and data viewer in Robot Operating System (ROS) environment were also released via the web page. The full data sets are available at: http://irap.kaist.ac.kr/dataset. In this website, 3D preview of each data set is provided using WebGL.

Original language	English
Title of host publication	2018 IEEE International Conference on Robotics and Automation, ICRA 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	6344-6351
Number of pages	8
ISBN (Electronic)	9781538630815
DOIs	https://doi.org/10.1109/ICRA.2018.8460834
State	Published - 10 Sep 2018
Externally published	Yes
Event	2018 IEEE International Conference on Robotics and Automation, ICRA 2018 - Brisbane, Australia Duration: 21 May 2018 → 25 May 2018

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Conference

Conference	2018 IEEE International Conference on Robotics and Automation, ICRA 2018
Country/Territory	Australia
City	Brisbane
Period	21/05/18 → 25/05/18

Bibliographical note

Publisher Copyright:
© 2018 IEEE.

Access to Document

10.1109/ICRA.2018.8460834

Cite this

Jeong, J., Cho, Y., Shin, Y. S., Roh, H., & Kim, A. (2018). Complex Urban LiDAR Data Set. In 2018 IEEE International Conference on Robotics and Automation, ICRA 2018 (pp. 6344-6351). Article 8460834 (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2018.8460834

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title = "Complex Urban LiDAR Data Set",

abstract = "This paper presents a Light Detection and Ranging (LiDAR) data set that targets complex urban environments. Urban environments with high-rise buildings and congested traffic pose a significant challenge for many robotics applications. The presented data set is unique in the sense it is able to capture the genuine features of an urban environment (e.g. metropolitan areas, large building complexes and underground parking lots). Data of two-dimensional (2D) and three-dimensional (3D) LiDAR, which are typical types of LiDAR sensors, are provided in the data set. The two 16-ray 3D LiDARs are tilted on both sides for maximal coverage. One 2D LiDAR faces backward while the other faces forwards to collect data of roads and buildings, respectively. Raw sensor data from Fiber Optic Gyro (FOG), Inertial Measurement Unit (IMU), and the Global Positioning System (GPS) are presented in a file format for vehicle pose estimation. The pose information of the vehicle estimated at 100 Hz is also presented after applying the graph simultaneous localization and mapping (SLAM) algorithm. For the convenience of development, the file player and data viewer in Robot Operating System (ROS) environment were also released via the web page. The full data sets are available at: http://irap.kaist.ac.kr/dataset. In this website, 3D preview of each data set is provided using WebGL.",

author = "Jinyong Jeong and Younggun Cho and Shin, {Young Sik} and Hyunchul Roh and Ayoung Kim",

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year = "2018",

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doi = "10.1109/ICRA.2018.8460834",

language = "English",

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Jeong, J, Cho, Y, Shin, YS, Roh, H & Kim, A 2018, Complex Urban LiDAR Data Set. in 2018 IEEE International Conference on Robotics and Automation, ICRA 2018., 8460834, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 6344-6351, 2018 IEEE International Conference on Robotics and Automation, ICRA 2018, Brisbane, Australia, 21/05/18. https://doi.org/10.1109/ICRA.2018.8460834

Complex Urban LiDAR Data Set. / Jeong, Jinyong; Cho, Younggun; Shin, Young Sik et al.
2018 IEEE International Conference on Robotics and Automation, ICRA 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 6344-6351 8460834 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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Complex Urban LiDAR Data Set

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