Forest Localisation Dataset

The dataset contains lidar, imu and wheel odometry measurements collected using an all-electric 4 wheel robotic vehicle (Gator) in a forest environment at the Queensland Centre for Advanced Technologies (QCAT - CSIRO) in Brisbane, Australia. The dataset also contains a heightmap image constructed from aerial lidar data of the same forest. \nThis dataset allows users to run the Forest Localisation software and evaluate the results of the presented localisation method. \nLineage: The ground view data was collected utilising an all-electric 4 wheel robotic vehicle equipped with a Velodyne VLP-16 laser mounted on a servo-motor, with a 45 degree inclination, spinning around the vertical axis at 0.5Hz. In addition to the lidar scans, imu and wheel odometry measurements were also recorded. The above canopy map (heightmap) was constructed from aerial lidar data captured using a drone also equipped with a spinning mobile lidar sensor.