LUNL 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 Lancaster University Neutron Laboratory (LUNL).The LUNL_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 05/12/2019 (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，其中包含基于SLAM（同步定位与映射）技术估计的机器人位置，以及兰开斯特大学中子实验室（LUNL）的二维SLAM地图。LUNL_radiation_data.txt文件包含以逗号分隔的值，首行标示数据类型。时间戳以Unix纪元时间为基准（与ROS中通用标准一致）。机器人的空间坐标x、y、z以米为单位。鉴于机器人为一地面二维机器人，SLAM估计将Z高度限制为大致恒定，因此仅需考虑x和y坐标。计数数据以每秒计数表示，指示CeBr3闪烁体探测器和混合场分析仪在约1秒的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生成的三元（三个值）地图。这三个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（自由空间）以及未知区域。地图元数据文件（.yaml）提供将地图文件的像素位置转换为坐标（以米为单位）的值。原始数据于2019年5月12日收集（采用ROS包格式），经过查询以提供.txt文件中的数据。随后，该数据集经过后处理，基于这些文件中的点观测和地图，提供伽马辐射的插值地图。