Sangwoo Jung, Wooseong Yang and Ayoung Kim*.
Welcome to Co-RaL-Dataset!
This repository includes the experimental dataset acquired to evaluate our radar-leg odometry algorithm, Co-RaL, which is accepted to IEEE IROS 2024. Our dataset includes sensor data of chip radar, imu, velodyne, and kinematic data from Boston Dynamics SPOT (Joint encoders and contact sensors). Each sequence is acquired with different environments to evaluate the algorithm performance generally. The dataset is provided with ROS Bag file format.
| Sensor | Model | Data Type | Freq | ROS Topic |
|---|---|---|---|---|
| chip radar | AWR1843BOOST | 4D radar pointcloud | 20Hz | /radar_0/radarcloud_gather |
| IMU | 3dm-gx5-25 | 9 DoF IMU data (Acc, ang Vel, orien) | 100Hz | /imu |
| LiDAR | Velodyne VLP-16 | 3D LiDAR pointcloud | 10Hz | /velodyne_points |
| Joint Encoder | Spot Joint Sensor | 12 float values (List) | 180Hz | /joint_states |
| Contact Sensor | Spot Contact Sensor | 4 boolean values (List) | 180Hz | /spot/status/feet |
| Time | - | ROS time | - | /clock |
TBA
| Sequence | Environment | Stair | Slope | Narrow Path | Path Length (m) | Elevation Change (m) | Duration (s) | Avg. vel. (m/s) |
|---|---|---|---|---|---|---|---|---|
| Stair | Outdoor | ✔ | ✔ | ❌ | 253.24 | 15.12 | 304.40 | 0.832 |
| Under | Indoor | ❌ | ✔ | ❌ | 227.02 | 3.23 | 258.50 | 0.878 |
| Narrow | Outdoor | ❌ | ❌ | ✔ | 134.86 | - | 151.39 | 0.891 |
| Trail | Outdoor | ❌ | ✔ | ❌ | 230.10 | 11.37 | 253.36 | 0.908 |
| Garage | Hybrid | ❌ | ❌ | ✔ | 138.52 | - | 161.68 | 0.857 |
| Building | Hybrid | ✔ | ✔ | ❌ | 252.86 | 8.26 | 291.89 | 0.866 |
This dataset is provided for academic purposes. If you encounter technical problems, please contact <Sangwoo Jung: dan0130@snu.ac.kr>.
All datasets on this page are copyrighted by SNU RPM Labs and published under the Creative Commons Attribution-NonCommercial-ShareAlike 4.0 License. You must attribute the work in the manner specified by the author. You may not use the work for commercial purposes, and you may only distribute the resulting work under the same license if you alter, transform, or create the work.
This work was supported by the MOTIE (1415187329) and MSIT (No.2022-0-00480).
@misc{jung2024coralcomplementaryradarlegodometry,
title={Co-RaL: Complementary Radar-Leg Odometry with 4-DoF Optimization and Rolling Contact},
author={Sangwoo Jung and Wooseong Yang and Ayoung Kim},
year={2024},
eprint={2407.05820},
archivePrefix={arXiv},
primaryClass={cs.RO},
url={https://arxiv.org/abs/2407.05820},
}