Inproceedings,

MulRan: Multimodal Range Dataset for Urban Place Recognition

, , , , and .
2020 IEEE International Conference on Robotics and Automation (ICRA), page 6246-6253. (May 2020)
DOI: 10.1109/ICRA40945.2020.9197298

Abstract

This paper introduces a multimodal range dataset namely for radio detection and ranging (radar) and light detection and ranging (LiDAR) specifically targeting the urban environment. By extending our workshop paper 1 to a larger scale, this dataset focuses on the range sensor-based place recognition and provides 6D baseline trajectories of a vehicle for place recognition ground truth. Provided radar data support both raw-level and image-format data, including a set of time-stamped 1D intensity arrays and 360° polar images, respectively. In doing so, we provide flexibility between raw data and image data depending on the purpose of the research…(more)

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