===== Vision & Laser Datasets From A Heterogeneous UAV Fleet ===== T. Hinzmann, T. Stastny, G. Conte, P. Doherty, P. Rudol, M. Wzorek, E. Galceran, R. Siegwart, and I. Gilitschenski, **Collaborative 3D Reconstruction using Heterogeneous UAVs: System and Experiments**. In //International Symposium on Experimental Robotics (ISER)//, 2016, Tokyo, Japan.[[http://timohinzmann.com/publications/iser_2016_hinzmann.pdf|PDF]][[http://timohinzmann.com/publications/iser_2016_hinzmann.txt)|BibTex]] The datasets were collected in Italy and Sweden in the context of a joint mission with the Autonomous Systems Lab, ETH Zurich and the Department of Computer and Information Science, Linköping University; funded by the FP7 EU project [[http://www.sherpa-project.eu/sherpa/|SHERPA]]. {{:pcl_motala_lidar_complete.png?300|}}{{ :vision_pc-1.png?240|}} Figure 1: Point cloud generated by the SICK laser scanner from the Rotary-Wing UAV (left) and the vision point cloud generated by the fixed-wing UAV (right). ==== Employed Platforms & Exteroceptive Sensors ==== **Yamaha RMAX** (Rotary-Wing UAV): The Yamaha RMAX helicopter has a rotor diameter of 3.1 m, a maximum take-off weight of 94 kg and a payload capability of about 30 kg. The platform is capable of fully autonomous navigation, including take-off and landing. The basic sensor suite used for autonomous navigation includes a fiber optic tri-axial gyro system and a tri-axial accelerometer system, a RTK GNSS positioning system and an infrared altimeter used for automatic landing. **Techpod** (Fixed-Wing UAV): Small unmanned research plane with a classic T-tail configuration, is equipped with one propeller, has a wingspan of 2.60 m and a nominal speed of around 12 m/s. The sensor and processing unit as well as the PX4 auto-pilot are located inside the modified fuselage and allow autonomous mission execution such as GPS waypoint following. ^ Platform ^ Exteroceptive Sensors ^ ^ //RMAX// | SICK LMS511 PRO 2D laser scanner, maximum range: 80m, maximum scanning FoV: 190° | ^ //Techpod// | Sony ActionCam HDR-AS100V, RGB, rolling shutter, 13 MP; Aptina MT9V034, grayscale, global shutter, 0.3 MP| {{ :playground:rmax_techpod_enlarge.png?300 |}} Figure 2: The UAV platforms employed for the cooperative scanning missions. ==== Available Datasets ==== ^ Dataset Name ^ Date (Session) ^ Location ^ Sensor ^ Terrain ^ Preview ^ Download ^ ^ laser_motala_1 | 2015 (I) | Motala, Sweden | SICK | House area| [[http://timohinzmann.com/datasets/iser/motala/laser_session_1/motala_strip_1.png|png]] | [[http://timohinzmann.com/datasets/iser/motala/laser_session_1/motala_strip_1.laz|laz]] | ^ laser_motala_2 | 2015 (I) | Motala, Sweden | SICK | House area| [[http://timohinzmann.com/datasets/iser/motala/laser_session_1/motala_strip_2.png|png]] | [[http://timohinzmann.com/datasets/iser/motala/laser_session_1/motala_strip_2.laz|laz]] | ^ laser_motala_3 | 2015 (I) | Motala, Sweden | SICK | House area| [[http://timohinzmann.com/datasets/iser/motala/laser_session_1/motala_strip_3.png|png]] | [[http://timohinzmann.com/datasets/iser/motala/laser_session_1/motala_strip_3.laz|laz]] | ^ laser_motala_4 | Feb 2016 (II) | Motala, Sweden | SICK | House area| [[http://timohinzmann.com/datasets/iser/motala/house_dz.png|png]] | [[http://timohinzmann.com/datasets/iser/motala/ft141001_strip_0.laz|laz]] [[http://timohinzmann.com/datasets/iser/motala/house_dz.xyz|xyz]] | ^ laser_motala_5 | Feb 2016 (II) | Motala, Sweden | SICK | House area| [[http://timohinzmann.com/datasets/iser/motala/ft141001_strip_1.png|png]] | [[http://timohinzmann.com/datasets/iser/motala/ft141001_strip_1.laz|laz]] | ^ laser_motala_6 | Feb 2016 (II) | Motala, Sweden | SICK | House area| [[http://timohinzmann.com/datasets/iser/motala/ft150318_strip.png|png]] | [[http://timohinzmann.com/datasets/iser/motala/ft150318_strip_0.laz|laz]] | ^ vision_motala_1 | Mar 2016 (III) | Motala, Sweden | Sony | Complete overview |[[http://timohinzmann.com/datasets/iser/motala/motala_vision_full.png|png]] | [[http://timohinzmann.com/datasets/iser/motala/vision_full.laz| laz]] | ^ vision_motala_2 | Mar 2016 (III) | Motala, Sweden | Sony | House area, cropped |[[http://timohinzmann.com/datasets/iser/motala/vision_source.png|png]] | [[http://timohinzmann.com/datasets/iser/motala/vision_source.xyz| xyz]] | ^ laser_motala_7 | Mar 2016 (III) | Motala, Sweden | SICK | House area| [[http://timohinzmann.com/datasets/iser/motala/motala_scan1_world.png|png]] | [[http://timohinzmann.com/datasets/iser/motala/motala_scan1_world.xyz|xyz]] | ^ laser_motala_8 | Mar 2016 (III) | Motala, Sweden | SICK | House area| [[http://timohinzmann.com/datasets/iser/motala/motala_scan2_world.png|png]] | [[http://timohinzmann.com/datasets/iser/motala/motala_scan2_world.laz|xyz]] | ^ laser_motala_9 | Mar 2016 (III) | Motala, Sweden | SICK | House area| [[http://timohinzmann.com/datasets/iser/motala/motala_stripe_1_utm_33.png|png]] | [[http://timohinzmann.com/datasets/iser/motala/motala_stripe_1_utm_33.xyz|xyz]] | ^ laser_motala_10 | Mar 2016 (III) | Motala, Sweden | SICK | House area| [[http://timohinzmann.com/datasets/iser/motala/motala_world.png|png]] | [[http://timohinzmann.com/datasets/iser/motala/motala_world.laz|laz]] | ^ vision_isollaz_1 | Apr. 2016 (VI) | Isollaz, Italy | Aptina | Hillside, groves, stone steps, paths|[[http://timohinzmann.com/datasets/iser/isollaz/20160409_pc_aptina.png|png]] | [[http://timohinzmann.com/datasets/iser/isollaz/20160409_pc_aptina.laz |laz]] | ^ laser_isollaz_1 | Apr. 2016 (VI) | Isollaz, Italy | SICK | Grove, stone steps, path|[[http://timohinzmann.com/datasets/iser/isollaz/strip_0000001.png|png]] | [[http://timohinzmann.com/datasets/iser/isollaz/strip_0000001.laz |laz]] | ^ laser_isollaz_2 | Apr. 2016 (VI) | Isollaz, Italy | SICK | Grove, stone steps, path|[[http://timohinzmann.com/datasets/iser/isollaz/strip_0000002.png|png]] | [[http://timohinzmann.com/datasets/iser/isollaz/strip_0000002.laz |laz]] | ^ laser_isollaz_3 | Apr. 2016 (VI) | Isollaz, Italy | SICK | Grove, stone steps, path|[[http://timohinzmann.com/datasets/iser/isollaz/strip_0000003.png|png]] | [[http://timohinzmann.com/datasets/iser/isollaz/strip_0000003.laz |laz]] | ^ laser_isollaz_4 | Apr. 2016 (VI) | Isollaz, Italy | SICK | Grove, stone steps, path|[[http://timohinzmann.com/datasets/iser/isollaz/strip_0000004.png|png]] | [[http://timohinzmann.com/datasets/iser/isollaz/strip_0000004.laz |laz]] | {{:test_site_motala.jpg?280|}}{{:test_site_isollaz.jpg?315|}} Figure 3: Test site near Motala, Sweden (lat/lon: 58.495043/15.102358) and Isollaz, Italy (lat/lon: 45.686922,/7.717967) ==== Useful Tools ==== For instance [[https://rapidlasso.com/lastools/|LAStools]] (in combination with wine on Linux) can be used to view, convert and crop point clouds in .las, .laz and .xyz format. # view wine LAStools/bin/lasview pointcloud.las # convert wine LAStools/bin/las2las -i input.las -o output.xyz # crop wine LAStools/bin/las2las -i input.xyz -o output.xyz -keep_xy x_min y_min x_max y_max ==== Source Code ==== The source code used for aligning a laser and a vision point cloud is available here: [[https://github.com/ethz-asl/robust_point_cloud_registration|Source Code: Robust Point Cloud Registration]]. The repository contains wrappers for ICP, GICP, NDT as well as the source code for IPDA which is a robust point cloud registration method that uses one-to-many probabilistic data associations ("Robust ICP"). {{:motala_house_dz_combined_pre_top.png?250|}}{{:motala_house_dz_combined_pre_side.png?300|}} Figure 4: Misaligned laser point cloud (green) and vision point cloud (colored). {{:motala_house_dz_combined_top_view.png?250|}}{{:motala_house_dz_combined_top_side.png?300|}} Figure 5: Aligned laser point cloud (green) and vision point cloud (colored) using [[https://github.com/ethz-asl/robust_point_cloud_registration|Robust Point Cloud Registration]] ==== Additional Information ==== In case of questions, please contact the authors at hitimo[at]ethz.ch. Many thanks to our great partner from Linköping University. ---- [[http://www.asl.ethz.ch/|{{:asl.gif?80 |}}]] [[https://liu.se/en|{{:lku.png?120 |}}]] [[http://www.sherpa-project.eu/sherpa/|{{:sherpa.png?120 |}}]]