TY - GEN
T1 - SwiftBase
T2 - 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024
AU - Zou, Zhenghao
AU - Lyu, Yang
AU - Zhao, Chunhui
AU - Kao, Xirui
AU - Liu, Jiangbo
AU - Chai, Haochen
N1 - Publisher Copyright:
© 2024 IEEE.
PY - 2024
Y1 - 2024
N2 - Localizing an aggressively moving platform is a considerable challenge in the SLAM domain. This paper presents a dataset, SwiftBase, crafted to facilitate research into precise localization under such conditions. It includes high-speed cameras with over 200Hz sampling rate, capturing detailed visual data for analyzing rapid external dynamics. The dataset features two IDS high-speed cameras, a low-frequency camera, and a high-precision integrated inertial measurement unit (IMU). Calibration parameters are provided, and sensor data is synchronized using ROS system time. SwiftBase is recorded in indoor environments, utilizing pulleys and suspension ropes to simulate high-speed conditions, with ground truth data supplied by OptiTrack. SwiftBase has been instrumental in evaluating advanced VI-SLAM algorithms. However, there is still an urgent need for new algorithms capable of robust and real-time tracking in High-Speed localization.
AB - Localizing an aggressively moving platform is a considerable challenge in the SLAM domain. This paper presents a dataset, SwiftBase, crafted to facilitate research into precise localization under such conditions. It includes high-speed cameras with over 200Hz sampling rate, capturing detailed visual data for analyzing rapid external dynamics. The dataset features two IDS high-speed cameras, a low-frequency camera, and a high-precision integrated inertial measurement unit (IMU). Calibration parameters are provided, and sensor data is synchronized using ROS system time. SwiftBase is recorded in indoor environments, utilizing pulleys and suspension ropes to simulate high-speed conditions, with ground truth data supplied by OptiTrack. SwiftBase has been instrumental in evaluating advanced VI-SLAM algorithms. However, there is still an urgent need for new algorithms capable of robust and real-time tracking in High-Speed localization.
UR - https://www.scopus.com/pages/publications/85216494520
U2 - 10.1109/IROS58592.2024.10802203
DO - 10.1109/IROS58592.2024.10802203
M3 - 会议稿件
AN - SCOPUS:85216494520
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 10206
EP - 10213
BT - 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 14 October 2024 through 18 October 2024
ER -