OdomBeyondVision: An indoor multi-modal multi-platform odometry dataset beyond the visible spectrum

Peize Li, Kaiwen Cai, Muhamad Risqi U. Saputra, Zhuangzhuang Dai, Chris Xiaoxuan Lu

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

1 Citation (Scopus)

Abstract

This paper presents a multimodal indoor odometry dataset, OdomBeyondVision, featuring multiple sensors across the different spectrum and collected with different mobile platforms. Not only does OdomBeyondVision contain the traditional navigation sensors, sensors such as IMUs, mechanical LiDAR, RGBD camera, it also includes several emerging sensors such as the single-chip mmWave radar, LWIR thermal camera and solid-state LiDAR. With the above sensors on UAV, UGV and handheld platforms, we respectively recorded the multimodal odometry data and their movement trajectories in various indoor scenes and different illumination conditions. We release the exemplar radar, radar-inertial and thermal-inertial odometry implementations to demonstrate their results for future works to compare against and improve upon. The full dataset including toolkit and documentation is publicly available at: https://github.com/MAPS-Lab/OdomBeyondVision.

Original languageEnglish
Title of host publicationIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022
EditorsZhidong Wang
Place of PublicationPiscataway NJ USA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages3845-3850
Number of pages6
ISBN (Electronic)9781665479271
ISBN (Print)9781665479288
DOIs
Publication statusPublished - 2022
EventIEEE/RSJ International Conference on Intelligent Robots and Systems 2022 - Kyoto, Japan
Duration: 23 Oct 202227 Oct 2022
https://ieeexplore.ieee.org/xpl/conhome/9981026/proceeding (Proceedings)
https://iros2022.org/ (Website)

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
PublisherIEEE, Institute of Electrical and Electronics Engineers
Volume2022-October
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems 2022
Abbreviated titleIROS 2022
Country/TerritoryJapan
CityKyoto
Period23/10/2227/10/22
Internet address

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