Helmholtz Gemeinschaft

Planetary Analogue Long Range Navigation Datasets from Mt. Etna

Original Paper:


We provide datasets from two long range navigation experiments performed on Mt. Etna which is a planetary analogue environment. These datasets were collected during the space analogue mission campaign performed to demonstrate the results of the ROBEX project during June-July 2017. A glimpse of the experiments site is shown in the figure below. The datasets were collected during two runs of approximately 1km in length. The datasets contain navigation relevant data from then rover i.e. IMU, Visual Odometry and Wheel Odometry. Along with the datasets, ground truth collected using DGPS modules is also provided which is needed to evaluate the pose estimation computed using the sensor data. We hope these datasets will be useful for the robotics community to evaluate their navigation algorithms especially in unstructured GPS-denied environments.

Figure: LRU on Mt.Etna, Italy where the datasets were collected; P.C: Esther Horvath

Figure: Tracks of the two long range experiments plotted using DGPS ground truth with Google Earth; run1 shown in red is of approximately 834 m and run2 shown in black is of approximately 1097 m;

Datasets Description:
The dataset for each run contains a bag file containing all the navigation related data recorded onboard the rover. The navigation relevant data consists of the measurements from the inertial measurement unit (IMU), images from the stereo-camera(left image and depth image) as well as he odometry information computed that includes visual odometry and wheel odometry. In addition there is DGPS data under dgps folder. It contains the GNSS data recorded on the base, GNSS data recorded on the rover as well as the DGPS solution file computed using the RTK library. A more detailed description of the data layout and files is described in the README file of datastets.

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    Please cite our paper below if you use our data sets for your research:
    „Datasets of Long Range Navigation Experiments in a Moon Analogue Environment on Mount Etna“, Mallikarjuna Vayugundla (Robotics and Mechatronics Center (RMC), Institute of Robotics and Mechatronics & Deutsches Zentrum für Luft- und Raumfahrt e. V. (DLR), Germany); Florian Steidle, Michal Smisek, Martin J. Schuster, Kristin Bussmann and Armin Wedler (Robotics and Mechatronics Center (RMC), Institute of Robotics and Mechatronics, Germany)

    This work was supported by the Helmholtz Association, project alliance ROBEX, under contract number HA-304. We also thank the many colleagues from the mobile robotics team who have helped us with the logistics involved and the collection of the data.