OdomBeyondVision: An Indoor Multi-modal Multi-platform Odometry Dataset Beyond the Visible Spectrum

Peize Li, Kaiwen Cai, Muhamad Risqi U. Saputra, Zhuangzhuang Dai, Chris Xiaoxuan Lu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract / Description of output

This paper presents a multimodal indoor odometry dataset, OdomBeyondVision, featuring multiple sensors across the different spectrum and collected with different mobile platforms. Not only does OdomBeyondVision contain the traditional navigation sensors, sensors such as IMUs, mechanical LiDAR, RGBD camera, it also includes several emerging sensors such as the single-chip mmWave radar, LWIR thermal camera and solid-state LiDAR. With the above sensors on UAV, UGV and handheld platforms, we respectively recorded the multimodal odometry data and their movement trajectories in various indoor scenes and different illumination conditions. We release the exemplar radar, radar-inertial and thermalinertial odometry implementations to demonstrate their results for future works to compare against and improve upon. The full dataset including toolkit and documentation is publicly available at: https://github.com/MAPS-Lab/OdomBeyondVision.
Original languageEnglish
Title of host publicationProceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2022
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages3845-3850
Number of pages6
ISBN (Electronic)978-1-6654-7927-1
ISBN (Print)978-1-6654-7928-8
DOIs
Publication statusPublished - 26 Dec 2022
EventThe 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems - Kyoto, Japan
Duration: 23 Oct 202227 Oct 2022
https://iros2022.org/

Publication series

NameIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
PublisherIEEE
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

ConferenceThe 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems
Abbreviated titleIROS 2022
Country/TerritoryJapan
CityKyoto
Period23/10/2227/10/22
Internet address

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