OHM Assay Data

This is a collection of data sets supporting the paper "OHM: GPU Based Occupancy Map Generation" and the related ohm_assay github project.\nLineage: These data files have been captured using the Robotics and Autonomous Systems Group SLAM sensing payload and processed using Wildcat SLAM. Most data files have been captured as part of the DARPA Subterranean challenge with two data sets beign captured during the finals event.\n\nFiles named with the "_bags.zip" suffix contain ROS melodic generated bag files which themselves contain piont cloud and trajectory messages for approximately five minutes of opertaion in the target environment. Files end "_cloud.zip" contain a post processed PLY point cloud and text based trajectory for the same five minute period. The flatpack and hovermap data sets were captured under direct operator control, while all other data are captured during autonomous operation. All data sets except flatpack are captured with a lidar mounted to a rotating encoder.\n\nFurther details of the data set content are available at https://github.com/csiro-robotics/ohm_assay/\n