论文标题
odombeyondvision：一个室内多模式多模式多平台探视数据集以外的可见光谱
OdomBeyondVision: An Indoor Multi-modal Multi-platform Odometry Dataset Beyond the Visible Spectrum
论文作者
论文摘要
本文介绍了多模式的室内轨道图数据集，Odombeyondvision，该数据集具有不同频谱的多个传感器，并使用不同的移动平台收集。 Odombeyondvision不仅包含传统的导航传感器，例如IMU，机械激光镜，RGBD摄像头，还包括几个新兴传感器，例如单芯片MMWave Radar，LWIR热相机和固态激光雷达。在无人机，UGV和手持式平台上的上述传感器中，我们分别在各种室内场景和不同的照明条件下记录了多模式的探光数据及其运动轨迹。我们释放了示例雷达，雷达惯性和热惯性探空仪的实现，以证明其未来工作的结果，以对其进行比较和改进。包括工具包和文档在内的完整数据集可在以下网址公开获取：https：//github.com/maps-lab/odombeyondvision。
This paper presents a multimodal indoor odometry dataset, OdomBeyondVision, featuring multiple sensors across the different spectrum and collected with different mobile platforms. Not only does OdomBeyondVision contain the traditional navigation sensors, sensors such as IMUs, mechanical LiDAR, RGBD camera, it also includes several emerging sensors such as the single-chip mmWave radar, LWIR thermal camera and solid-state LiDAR. With the above sensors on UAV, UGV and handheld platforms, we respectively recorded the multimodal odometry data and their movement trajectories in various indoor scenes and different illumination conditions. We release the exemplar radar, radar-inertial and thermal-inertial odometry implementations to demonstrate their results for future works to compare against and improve upon. The full dataset including toolkit and documentation is publicly available at: https://github.com/MAPS-Lab/OdomBeyondVision.
