JSI Gamma Radiation Dataset and SLAM Map

Three files consisting of a txt file dataset of gamma radiation count observations, with SLAM estimated position, and a 2D SLAM map of the Jožef Stefan Institute (JSI) TRIGA Mark II reactor hall.The JSI_radiation_data.txt consists of comma separated values, with a header row indicating the data types. Timestamp is with respect to Unix Epoch time (as is standard in ROS). Spatial coordinates of the robot x, y, z are in metres. As the robot is a ground level 2D robot, the SLAM estimate restricts the Z height to be roughly constant. Only x and y data are necessary. The counts data are in counts per second, indicating the number of events collected over a ~1 second time window by a CeBr3 scintillator detector and mixed field analyser.The map file (.pgm) is a trinary (three value) map generated by SLAM via ROS (Robot Operating System). The three values related to occupied (obstacles and physical features, such as walls), unoccupied (free-space), and unknown.The map metadata file (.yaml) provides values to convert pixel position of the map file into coordinates (in metres).Data was originally collected 31/01/2020 (in ROS bag format), which was interrogated to provide the data in the .txt file.This dataset is then post-processed to provide interpolated maps of gamma radiation, based on the point observations and maps in these files.

该数据集包含三个文件，其一为txt格式的伽马辐射计数观测数据集，其中包含了基于SLAM（同步定位与地图构建）技术估计的机器人位置，以及约瑟夫·斯蒂芬研究院（JSI）TRIGA Mark II反应堆大厅的2D SLAM地图。JSI_radiation_data.txt文件中包含了以逗号分隔的值，首行指示数据类型。时间戳以Unix纪元时间为基准（与ROS标准一致）。机器人的空间坐标x、y、z（单位：米）。鉴于该机器人为一地面二维机器人，SLAM估计限制了Z高度的变动，因此仅需考虑x和y坐标。计数数据以每秒计数值表示，指明了CeBr3闪烁体探测器与混合场分析器在约1秒时间窗口内收集的事件数量。地图文件（.pgm）是由ROS（机器人操作系统）通过SLAM生成的三值地图。该三值分别对应于占用区域（障碍物和物理特征，如墙壁）、未占用区域（空闲空间）以及未知区域。地图元数据文件（.yaml）提供了将地图文件像素位置转换为坐标（单位：米）的值。原始数据于2020年1月31日收集（以ROS包格式），经查询后生成.txt文件中的数据。随后，通过对这些文件中的点观测和地图进行后处理，提供了伽马辐射的插值地图。