矿山多模态原始数据集数据

该数据集为矿山图像和点云原始数据集，内含矿山原始图像集1份，原始图像-点云多模态原始数据集 1 份，Rosbag 数据1 份。本数据集在鄂尔多斯黑岱沟露天煤矿、哈尔乌苏露天煤矿的矿卡真实作业条件下采集。采集设备为主控机Jetson Xavier NX、相机Basler工业相机、Ouster 雷达和 Hap 雷达等。采集过程中传感器数据帧率为10Hz，以 rosbag 的形式存储，采集后续进行数据使用时，以2Hz 关键帧抽取的形式建立数据集。

This dataset is an original mine image and point cloud dataset, comprising one set of original mine image dataset, one set of original image-point cloud multimodal dataset, and one set of Rosbag data. It was collected under real operating conditions of mining trucks at Heidaigou Open-pit Coal Mine and Haerwusu Open-pit Coal Mine in Ordos, China. The collection equipment includes the main controller Jetson Xavier NX, Basler industrial cameras, Ouster LiDARs, Hap LiDARs, and other related devices. During the data collection process, the sensor data was acquired at a frame rate of 10 Hz and stored in Rosbag format. For subsequent data utilization, the final dataset was constructed by extracting key frames at a rate of 2 Hz.

搜集汇总

背景与挑战

背景概述

该数据集为矿山多模态原始数据集，包含矿山原始图像、图像-点云多模态数据以及Rosbag数据。数据采集于鄂尔多斯黑岱沟和哈尔乌苏露天煤矿的矿卡作业环境，使用Jetson Xavier NX主控机、Basler工业相机、Ouster和Hap雷达等设备，以10Hz帧率存储为rosbag格式，后经2Hz关键帧抽取构建。