The CAD and urdf models of the robot platforms and the sensor suite we used in TAIL dataset are provided here.
models/wheeled/CAD/wheeled.SLDASM: assembly of the wheeled platform
models/quadruped/CAD/quadruped.SLDASM: assembly of the quadruped platform
Robot platforms: ScoutMini & Unitree-GO1.
The sensors include:
• 1 × LiDAR: Ouster OS0-128
• 3 × downward RGB-D camera: one Azure Kinect DK and two Realsense D435i cameras
• 2 × global-shutter color camera: two HKVision MV-CA013-A0UC cameras + MVL-HF0824M-10MP lenses
• 1 × RTK-GPS device: Ublox ZED-F9P
• 1 × extra IMU: Xsens MTi-680G
The overview of hardware time synchronization process is shown below.
We would appreciate it if you use our dataset and cite our paper：
@article{tail2023yao,
title={TAIL: A Terrain-Aware Multi-Model Dataset for Robust SLAM in Deformable, Granular Environment},
author={Yao, Chen and Ge, Yangtao and Shi, Guowei and Wang, Zirui and Yang, Ningbo and Zhu, zheng and Wei, Hexiang and Zhao, Yuntian and Wu, Jing and Jia, Zhenzhong},
year={2023},
url={https://tailrobot.github.io/}
}