Stanmer Park outdoor navigational data

This dataset contains omnidirectional 1440✕1440 resolution images taken using a Kodak Pixpro SP360 camera paired with RTK GPS information obtained using a simple RTK2B - 4G NTRIP kit and fused yaw, pitch and roll data recorded from a BNO055 IMU. The data was collected using a 4 wheel ground robot that was manually controlled by a human operator. The robot was driven 15 times along a route at Stanmer Park (shown in map.png). The route consists mostly of open fields and a narrow path through a forest and is approximately 700m long. The recordings took place at various days and times starting in March 2021, with the date and time indicated by the filename. For example ‘20210420_135721.zip’ corresponds to a route driven on 20/03/2021 starting at 13:57:21 GMT. During the recordings the weather varied from clear skies and sunny days to overcast and low light conditions. Each recording consists of an mp4 video of the camera footage for the route, and a database_entries.csv file with the following columns:Timestamp of video frame (in ms)X, Y and Z coordinate (in mm) and zone representing location in UTM coordinates from GPSHeading, pitch and roll (in degrees) from IMU. In some early routes, the IMU failed and when this occurs these values are recorded as “NaN”.Speed and Steering angle commands being sent to robot at that timeGPS quality (1=GPS, 2=DGNSS, 4=RTK Fixed and 5=RTK Float)X, Y and Z coordinates (in mm) fitted to a degree one polynomial to smooth out GPS noiseHeading (in degrees) derived from smoothed GPS coordinatesIMU heading (in degrees) with discontinuities resulting from IMU issues fixedFor completeness, each folder also contains a database_entries_original.csv containing the data before pre-processing. The pre-processing is documented in more detail in pre_processing_notes.pdf.

本数据集包含使用柯达Pixpro SP360相机拍摄的全向1440×1440分辨率图像，同步配套采用简易RTK2B-4G NTRIP套件获取的实时动态差分（RTK）GPS信息，以及从BNO055惯性测量单元（IMU）采集并融合的航向、俯仰与横滚数据。本数据集的数据采集由一名人工操作员手动操控的四轮地面机器人完成，该机器人在斯坦默公园（Stanmer Park）的预设路线上往返行驶15次，路线详情见map.png；该路线以开阔田野为主，包含一条穿越森林的狭窄小径，全长约700米。录制工作于2021年3月起的不同日期与时段开展，录制的日期与时间可通过文件名直接识别，例如文件‘20210420_135721.zip’对应的录制任务为2021年3月20日13:57:21（格林尼治标准时间）启动的路线行驶。录制期间的天气状况多样，涵盖晴朗晴天、阴天以及低光照环境。单次录制包含对应路线的mp4格式相机录制视频，以及database_entries.csv数据文件，该文件包含以下列项：视频帧时间戳（单位：毫秒）、GPS获取的通用横轴墨卡托（UTM）坐标系下的X、Y、Z坐标（单位：毫米）及位置分区、惯性测量单元（IMU）测得的航向、俯仰与横滚角度（单位：度）；在部分早期录制的路线中，惯性测量单元（IMU）会出现故障，此时对应数值将以"NaN"标记。此外该文件还包含：当时发送至机器人的速度与转向角指令、GPS定位质量等级（1=GPS，2=差分全球导航卫星系统（DGNSS），4=RTK固定解，5=RTK浮动解）、经一阶多项式拟合以平滑GPS噪声后的X、Y、Z坐标（单位：毫米）、由平滑后GPS坐标推导得到的航向角（单位：度）、修复了因惯性测量单元（IMU）故障导致的跳变后的IMU航向角（单位：度）。为保证数据完整性，每个文件夹还附带了预处理前的原始数据文件database_entries_original.csv，预处理的详细说明可参考pre_processing_notes.pdf。