PUT Messor II State Estimation dataset
The PUT Messor II State Estimation dataset contains 5 sequences registered in an robotic laboratory, recorded using Asus Xtion Pro and internal sensors of the robot (AHRS unit (accelerometers, gyroscopes, magnetometers), joint encoders, feet contact sensors). The groundtruth data was captured using the OptiTrack motion capture system.
The structure of each sequence:
- images.zip – depth and rgb images
- ahrs.txt – AHRS data
- cameraGroundTruth.txt – ground truth trajectory of the camera
- grabber.txt – position of the OptiTrack marker attached to the robot (synchronized with camera frames)
- orders.txt – motion orders sent to the robot
- robotRefMotion.txt – motion orders generated by on-board controller of the robot
- robotState.txt – recorded state of the robot (joint encoders, feet contact sensors)
Camera-AHRS calibration
OptiTrack-robot calibration
OUR calibration results:
robot2OptiTrackMarker=
[0.239046, -0.0824081, 0.967505, 0.0114543;
0.970191, 0.061135, -0.234502, -0.065045;
-0.0398236, 0.994722, 0.0945657, 0.305703;
0, 0, 0, 1];
OptiTrackMarker2camera=
[0.241761029007299, -0.156482265388292, 0.957635058606503, 0.078542236056188;
-0.159587283912986, -0.979884124280077, -0.119829052391907, -0.078052590612562;
0.957122512360151, -0.123856382971628, -0.261870373907737, -0.061252007077847;
0, 0, 0, 1];
camera2AHRS=
[0.99543424, 0.03069763, -0.09037883, -0.03202661;
-0.08285932, -0.19211721, -0.97786774, 0.18918336;
-0.04738155, 0.98089175, -0.18869646, 0.07684403;
0, 0, 0, 1];
xyz1 sequence
| External camera | On-board camera |
squareRot1 sequence
| External camera | On-board camera |
squareRot2 sequence
| External camera | On-board camera |
ramp1 sequence
| External camera | On-board camera |
free1 sequence
| External camera | On-board camera |
[1] D. Belter, M. Nowicki, Optimization-based Legged Odometry and Sensor Fusion for Legged Robot Continous Localization, 2018 (in review)
Contact lrm@put.poznan.pl for any information regarding the database.
