Stanmer Park outdoor navigational data

This dataset contains omnidirectional 1440✕1440 resolution images taken using a Kodak Pixpro SP360 camera paired with RTK GPS information obtained using a simple RTK2B - 4G NTRIP kit and fused yaw, pitch and roll data recorded from a BNO055 IMU. The data was collected using a 4 wheel ground robot that was manually controlled by a human operator. The robot was driven 15 times along a route at Stanmer Park (shown in map.png). The route consists mostly of open fields and a narrow path through a forest and is approximately 700m long. The recordings took place at various days and times starting in March 2021, with the date and time indicated by the filename. For example ‘20210420_135721.zip’ corresponds to a route driven on 20/03/2021 starting at 13:57:21 GMT. During the recordings the weather varied from clear skies and sunny days to overcast and low light conditions. Each recording consists of an mp4 video of the camera footage for the route, and a database_entries.csv file with the following columns:Timestamp of video frame (in ms)X, Y and Z coordinate (in mm) and zone representing location in UTM coordinates from GPSHeading, pitch and roll (in degrees) from IMU. In some early routes, the IMU failed and when this occurs these values are recorded as “NaN”.Speed and Steering angle commands being sent to robot at that timeGPS quality (1=GPS, 2=DGNSS, 4=RTK Fixed and 5=RTK Float)X, Y and Z coordinates (in mm) fitted to a degree one polynomial to smooth out GPS noiseHeading (in degrees) derived from smoothed GPS coordinatesIMU heading (in degrees) with discontinuities resulting from IMU issues fixedFor completeness, each folder also contains a database_entries_original.csv containing the data before pre-processing. The pre-processing is documented in more detail in pre_processing_notes.pdf.本数据集包含使用柯达Pixpro SP360相机采集的全向1440×1440分辨率图像，配套数据包括通过简易RTK2B-4G NTRIP套件获取的实时动态差分GPS（Real-time Kinematic GPS, RTK GPS）信息，以及从BNO055惯性测量单元（Inertial Measurement Unit, IMU）采集得到的融合航向、俯仰与横滚数据。 本数据集的采集工作由一台四轮地面移动机器人完成，该机器人由人工操作员手动操控。机器人在斯坦默公园（Stanmer Park，对应文件map.png中展示的路线）沿预设路径行驶了15次。该路线以开阔田野为主，包含一条穿过林地的狭窄步道，全长约700米。 数据采集工作始于2021年3月，在不同日期与时段开展，采集的日期与时间信息可通过文件名直接获取。例如文件'20210420_135721.zip'对应的采集时段为格林尼治标准时间2021年3月20日13时57分21秒，对应一次该路线的行驶记录。数据采集期间的天气条件多样，涵盖晴朗晴天、阴天以及弱光环境。 每条采集记录包含对应路线的MP4格式相机拍摄视频，以及一个名为database_entries.csv的数据文件，其包含以下字段：视频帧时间戳（单位：毫秒）；来自GPS的通用横轴墨卡托（UTM）坐标信息，包含X、Y、Z轴坐标（单位：毫米）以及区域编号；来自IMU的航向、俯仰与横滚角度（单位：度）——在部分早期采集路线中，IMU出现故障，此时上述参数值将被记录为"NaN"；该时刻下发至机器人的速度与转向角指令；GPS定位质量（1=GPS，2=DGNSS，4=RTK固定解，5=RTK浮点解）；经一阶多项式拟合以抑制GPS噪声后的X、Y、Z轴坐标（单位：毫米）；由平滑后GPS坐标解算得到的航向角（单位：度）；已修复因IMU故障引发的不连续问题的IMU航向角（单位：度）。 为保证数据完整性，每个数据文件夹还包含一个database_entries_original.csv文件，存储了预处理前的原始数据。预处理的详细说明可参考pre_processing_notes.pdf文件。