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Co-RaL-Dataset

Co-RaL: Complementary Radar-Leg Odometry with 4-DoF Optimization and Rolling Contact

Authors

Sangwoo Jung, Wooseong Yang and Ayoung Kim*.

Paper and Video

Welcome to Co-RaL-Dataset!

This repository includes the experimental dataset acquired to evaluate our radar-leg odometry algorithm, Co-RaL, which is accepted to IEEE IROS 2024. Our dataset includes sensor data of chip radar, imu, velodyne, and kinematic data from Boston Dynamics SPOT (Joint encoders and contact sensors). Each sequence is acquired with different environments to evaluate the algorithm performance generally. The dataset is provided with ROS Bag file format.

[arXiv] [BibTex]

Download

Google Drive

Sensor Setup

photo
Sensor Model Data Type Freq ROS Topic
chip radar AWR1843BOOST 4D radar pointcloud 20Hz /radar_0/radarcloud_gather
IMU 3dm-gx5-25 9 DoF IMU data (Acc, ang Vel, orien) 100Hz /imu
LiDAR Velodyne VLP-16 3D LiDAR pointcloud 10Hz /velodyne_points
Joint Encoder Spot Joint Sensor 12 float values (List) 180Hz /joint_states
Contact Sensor Spot Contact Sensor 4 boolean values (List) 180Hz /spot/status/feet
Time - ROS time - /clock

Sensor Calibration

TBA

Dataset List

Sequence Environment Stair Slope Narrow Path Path Length (m) Elevation Change (m) Duration (s) Avg. vel. (m/s)
Stair Outdoor ✔ ✔ ❌ 253.24 15.12 304.40 0.832
Under Indoor ❌ ✔ ❌ 227.02 3.23 258.50 0.878
Narrow Outdoor ❌ ❌ ✔ 134.86 - 151.39 0.891
Trail Outdoor ❌ ✔ ❌ 230.10 11.37 253.36 0.908
Garage Hybrid ❌ ❌ ✔ 138.52 - 161.68 0.857
Building Hybrid ✔ ✔ ❌ 252.86 8.26 291.89 0.866

Contact

This dataset is provided for academic purposes. If you encounter technical problems, please contact <Sangwoo Jung: [email protected]>.

Copyright

All datasets on this page are copyrighted by SNU RPM Labs and published under the Creative Commons Attribution-NonCommercial-ShareAlike 4.0 License. You must attribute the work in the manner specified by the author. You may not use the work for commercial purposes, and you may only distribute the resulting work under the same license if you alter, transform, or create the work.

Acknowledgement

This work was supported by the MOTIE (1415187329) and MSIT (No.2022-0-00480).

BibTex

@misc{jung2024coralcomplementaryradarlegodometry,
      title={Co-RaL: Complementary Radar-Leg Odometry with 4-DoF Optimization and Rolling Contact}, 
      author={Sangwoo Jung and Wooseong Yang and Ayoung Kim},
      year={2024},
      eprint={2407.05820},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
      url={https://arxiv.org/abs/2407.05820}, 
}