仿人SLAM走廊激光点云数据集

数据集名称：仿人SLAM走廊激光点云数据集（编号2020AAA0108903-004）数据集内容：对机器人同步定位与建图、场景感知、目标识别等进行描述，采集方式主要是通过机器人本体传感器实现数据采集，并分析处理获得，所用设备有复合机器人，并配有鱼眼相机、激光雷达、深度相机。数据来源：通过实验分析获得。采集时间及地点：数据采集时间为2022年，地点为山东大学威海校区知行南楼3楼。该数据集对机器人同步定位与建图、场景感知进行描述，本数据集共包含3532张点云图，为npy格式，用于语义slam运行以得到语义地图。数据量为30MB。Dataset Name: Humanoid SLAM Corridor Laser Point Cloud Dataset (No. 2020AAA0108903-004) Dataset Content: This dataset covers research topics including robot simultaneous localization and mapping (SLAM), scene perception and object recognition. Data is collected via the on-board sensors of the robot and obtained through subsequent analysis and processing. The experimental equipment includes a composite robot equipped with a fisheye camera, LiDAR and a depth camera. Data Source: Obtained through experimental analysis. Collection Time and Location: The data was collected in 2022 at the 3rd Floor of Zhixing South Building, Shandong University (Weihai Campus). This dataset focuses on robot simultaneous localization and mapping and scene perception, containing a total of 3532 point cloud images in NPY format. It is designed for semantic SLAM operations to generate semantic maps, with a total data volume of 30 MB.

搜集汇总

背景与挑战

背景概述

该数据集专注于机器人同步定位与建图及场景感知，包含3532张npy格式的点云图，总数据量约为30MB。数据采集于2022年山东大学威海校区的走廊环境，适用于语义SLAM应用以生成语义地图。