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（Kodak）Pixpro SP360相机拍摄的全向1440×1440分辨率图像，搭配通过简易RTK2B-4G NTRIP套件获取的实时动态差分（Real-Time Kinematic，RTK）GPS信息，以及从BNO055惯性测量单元（Inertial Measurement Unit，IMU）采集并融合的航向、俯仰与横滚数据。本数据集的采集工作由人工操作员手动操控四轮地面移动机器人完成，该机器人沿斯坦默公园（Stanmer Park）内的规划路线共计行驶15次，该路线详见配套文件map.png，整体以开阔田野为主，包含一条穿越森林的狭窄步道，全长约700米。采集工作于2021年3月起的多个日期与时段开展，采集的日期与时间可通过文件名直接识别。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4月20日13时57分21秒。采集期间天气条件多变，涵盖晴朗晴天、阴天及弱光环境。每份采集记录包含两类文件：一是对应采集路线的相机拍摄MP4视频文件，二是名为database_entries.csv的数据文件，该文件包含以下字段：视频帧时间戳（单位：毫秒）、GPS采集的通用横轴墨卡托（Universal Transverse Mercator，UTM）坐标系下的X、Y、Z坐标（单位：毫米）及区域编码、惯性测量单元输出的航向、俯仰与横滚角度（单位：度）。部分早期采集路线中，惯性测量单元出现故障，此时上述IMU输出的角度数值将以“NaN”标记。此外该数据文件还包含以下内容：该时刻下发至机器人的速度与转向角控制指令、GPS定位质量等级（1代表GPS，2代表差分全球导航卫星系统（Differential Global Navigation Satellite System，DGNSS），4代表RTK固定解，5代表RTK浮点解）、经一阶多项式拟合以平滑GPS噪声后的X、Y、Z坐标（单位：毫米）、基于平滑后GPS坐标解算得到的航向角（单位：度）、修复了惯性测量单元异常导致的跳变后的IMU航向角（单位：度）。为保证数据完整性，每个采集文件夹还附带了预处理前的原始数据文件database_entries_original.csv，预处理流程的详细说明可参阅配套文档pre_processing_notes.pdf。