2026-06-06T17:42:36Zhttps://riuma.uma.es/rest/oai/requestoai:riuma.uma.es:10630/260152026-02-03T11:36:57Zcom_10630_2254col_10630_20092
RIUMA. Repositorio Institucional de la Universidad de Málaga
author
Sánchez-Montero, Manuel
author
Morales-Rodríguez, Jesús
author
Martínez-Rodríguez, Jorge Luis
author
Fernández-Lozano, Juan Jesús
author
García-Cerezo, Alfonso José
2023-02-21T11:15:24Z
2023-02-21T11:15:24Z
2022-07-26
Sánchez, M.; Morales, J.; Martínez, J.L.; Fernández-Lozano, J.J.; García-Cerezo, A. Automatically Annotated Dataset of a Ground Mobile Robot in Natural Environments via Gazebo Simulations. Sensors 2022, 22, 5599. https://doi.org/10.3390/s22155599
https://hdl.handle.net/10630/26015
10.24310/riuma.26015
http://u.uma.es/dr3/datasetcode/http://u.uma.es/dr4/datasetforest_1/http://u.uma.es/dr5/datasetforest_2/http://u.uma.es/dr6/datasethill_1/http://u.uma.es/dr7/datasethill_2/http://u.uma.es/dr8/datasetlake_1/http://u.uma.es/dr9/datasetlake_2/http://u.uma.es/dsa/datasetpark_1/http://u.uma.es/dsb/datasetpark_2/
This paper presents a new synthetic dataset openly available at https://www.uma.es/robotics-and-mechatronics/info/132852/negs-ugv-dataset obtained from Gazebo simulations of an Unmanned Ground Vehicle (UGV) moving on different natural environments. To this end, a Husky mobile robot equipped with a tridimensional (3D) Light Detection and Ranging (LiDAR) sensor, a stereo camera, a Global Navigation Satellite System (GNSS) receiver, an Inertial Measurement Unit (IMU) and wheel tachometers has followed several paths using the Robot Operating System (ROS). Both points from LiDAR scans and pixels from camera images, have been automatically labeled into their corresponding object class. For this purpose, unique reflectivity values and flat colors have been assigned to each object present in the modeled environments. As a result, a public dataset, which also includes 3D pose ground-truth, is provided as ROS bag files and as human-readable data. Potential applications include supervised learning and benchmarking for UGV navigation on natural environments. Moreover, to allow researchers to easily modify the dataset or to directly use the simulations, the required code has also been released
eng
Atribución-NoComercial-CompartirIgual 4.0 Internacional
Robótica
Automatically Annotated Dataset of a Ground Mobile Robot in Natural Environments via Gazebo Simulations
dataset
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URL
https://riuma.uma.es/bitstreams/87600aee-7584-4252-a5d2-a644226c42ad/download
File
MD5
623debe1d2f0e80224df024934287035
3320
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readme.txt