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项目作者： donghwijung

项目描述 ：
Multi-floor mapping including the elevator
高级语言：
项目地址: git://github.com/donghwijung/MUFE.git
创建时间： 2021-03-01T07:55:53Z
项目社区：https://github.com/donghwijung/MUFE
开源协议：
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MUFE: Multi-Floor Mapping including the Elevator

Donghwi Jung, Heungmin Park, Jinwoo Lee, Kyunghyun Kim, Giulia Nespoli, and Seong-Woo Kim, “MUFE: Multi-Floor Mapping including the Elevator,” submitted to IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Prague, Czech Republic, 2021.

Description

Multi-floor point cloud mapping including the elevator.

Dataset

The link for dataset is /g/personal/donghwijung_seoul_ac_kr/EpA4YOKrFA5Chm7e0A5LidoBkZCXg9MhcbL_doTs-7PHBA?e=rMSnRA">https://mysnu-my.sharepoint.com/:f:/g/personal/donghwijung_seoul_ac_kr/EpA4YOKrFA5Chm7e0A5LidoBkZCXg9MhcbL_doTs-7PHBA?e=rMSnRA

  1. /velydone_points 10 Hz, Velodyne VLP 16
  2. /imu/data 400 Hz, Xsens 680G
  3. /pressure 25 Hz, BMP 180

Data description

  • The dataset was collected in building 3.
  • The ground truth floor-to-floor height for building 3 is 4.16 m.
  • ‘bld3_5th_to_3rd’ includes a journey starting on the 5th floor, going through the 3rd floor and back to the 5th floor.
  • ‘bld3_3rd_to_4th_to_5th_round’ is a path that goes back and forth over three floors. The detailed transitions are as follows: 3->4->5->3->4F.
  • ‘bld3_5th_to_1st_elv’ is the route from the 5th floor to the 1st floor by elevator.

    Video

    https://youtu.be/S_8OZRwpDY4