爬壁机器人相机位姿信息数据

爬壁机器人相机位姿信息数据主要面向爬壁机器人的定位精度评估需求以及病害识别定位需求，为算法研究和项目考核提供参考。数据位置信息主要通过里程计、陀螺仪传感器数据进行融合，还可结合激光跟踪全站仪测量的绝对位置数据。其中，里程计和陀螺仪数据以ROS消息的方式发送到机器人主控工控机。另外，激光跟踪全站仪数据也是通过AP无线网络，以ROS系统消息的方式发送到机器人主控工控机融合。在相机节点拍照时保存在工控机中This wall-climbing robot camera pose information dataset is primarily designed to meet the requirements of positioning accuracy evaluation and disease recognition and positioning for wall-climbing robots, providing reliable references for algorithm research and project evaluation. The positional data is mainly fused from odometer and gyroscope sensor data, and can also be combined with absolute position data measured by a laser tracking total station. Specifically, the odometer and gyroscope data are transmitted to the robot's main control industrial computer via ROS messages. In addition, the data collected by the laser tracking total station is sent to the robot's main control industrial computer through the AP wireless network in the form of ROS system messages for data fusion. Images captured by the camera node are stored in the industrial computer upon shooting.

搜集汇总

背景与挑战

背景概述

该数据集旨在支持爬壁机器人的定位精度评估与病害识别定位，服务于算法研究和项目考核需求。数据通过融合里程计、陀螺仪传感器以及激光跟踪全站仪的测量信息生成，并以ROS消息形式传输至机器人主控系统。