[[http://robotics.ethz.ch/~asl-datasets/JFR_Submission_Point_Clouds/|Datasets]] based on extended multi--robot field trials within the framework of the [[http://www.fp7-icarus.eu/|ICARUS Project]] public demonstration at the area of Marche-en-Famenne during September 2014. A video indicative of the tests is found [[http://youtu.be/8PTOO4LeMCI|here]].

{{:datasets_released_image_v2.png?620|}}

The dataset contain point clouds from the area of [[https://www.google.com/maps/place/Marche-en-Famenne,+Belgium/@50.2181499,5.33983,12z/data=!3m1!4b1!4m2!3m1!1s0x47c026825ad1d17b:0xfbf7763207a668ea?hl=en|Marche-en-Famenne in Belgium]]. The following specific datasets are provided:
  * Point-Clouds derived using the **Microdrones MD4-1000 Quadrotor** and specifically:
    - Point Cloud derived using [[http://robotics.ethz.ch/~asl-datasets/JFR_Submission_Point_Clouds/RMA%20Microdrones/PC%20model.las|a high-definition GPS-tagged color camera ]]
  * Point Clouds derived using the **ASCAMM Quadrotor LIFT IV** and specifically:
    - Point-Cloud derived using [[http://robotics.ethz.ch/~asl-datasets/JFR_Submission_Point_Clouds/ASCAMM%20Quadrotor/ASCAMM%20-%20Marche-en-Famenne%20-%20RGB.ply|a high-definition GPS-tagged color camera ]]
    - Point-Cloud derived using [[http://robotics.ethz.ch/~asl-datasets/JFR_Submission_Point_Clouds/ASCAMM%20Quadrotor/ASCAMM%20-%20Marche-en-Famenne%20-%20Grayscale.ply|a tightly synchronized grayscale nadir-view Camera/IMU system further annotated with GPS information]]
    - Point-Cloud derived using [[http://robotics.ethz.ch/~asl-datasets/JFR_Submission_Point_Clouds/ASCAMM%20Quadrotor/ASCAMM%20-%20Marche-en-Famenne%20-%20Thermal.ply|a Thermal camera (FLIR Tau 2)]]
    - Point-Cloud derived using  [[http://robotics.ethz.ch/~asl-datasets/JFR_Submission_Point_Clouds/ASCAMM%20Quadrotor/ASCAMM%20-%20Marche-en-Famenne%20-%20RGB%20-%20Oblique%20for%203D%20village.ply|an oblique view high-definition GPS-tagged color camera]]
  * Point-Clouds derived[[http://example.com|External Link]] using the **ETH AtlantikSolar** (more information [[http://www.atlantiksolar.ethz.ch/|here]]) long-endurance solar-powered fixed-wing UAV and specifically:
    - Point-Cloud derived using [[http://robotics.ethz.ch/~asl-datasets/JFR_Submission_Point_Clouds/ETH%20AtlantikSolar/RGB%20Camera/|a nadir-view GPS-tagged high definition color camera]]. The offline processing was done using the [[http://pix4d.com/|Pix4D]] software.
    - Point-Cloud derived using [[http://robotics.ethz.ch/~asl-datasets/JFR_Submission_Point_Clouds/ETH%20AtlantikSolar/Grayscale%20Camera/mef_area2_gscale_50degrees_path1_v1_filtered_point_cloud.ply|a tightly synchronized grayscale oblique view Camera/IMU system further annotated with GPS information]]. The offline processing was done using the [[http://pix4d.com/|Pix4D]] software.
  * Point-Clouds derived using the **Husky UGV from IMM** and specifically:
    - Point-Cloud derived using [[http://robotics.ethz.ch/~asl-datasets/IMM_MeF_Husky_ZF/IMM_MeF_Husky_ZF.ply|a Husky Unmanned Ground Robot using a 3D laser scanner]]
Following [[http://robotics.ethz.ch/~asl-datasets/JFR_Submission_Point_Clouds/|this URL]], direct navigation on the file list is provided. Further information are found within our Journal of Field Robotics manuscript. 

**Employed Camera Systems:**

The following camera systems were utilized:
  * A [[http://store.sony.com/alpha-nex-7-with-18-55mm-lens-zid27-NEX7K/B/cat-27-catid-EOL-Alpha-NEX-Cameras|Sony NEX-7 24.3 MP]] used on-board the Microdrones MD4-1000 UAV.
  * The [[http://www.skybotix.com/|VI-Sensor]] interfacing an [[http://www.aptina.com|Aptina MT9V034]] as well as a [[http://www.flir.com/cvs/cores/view/?id=54717|FLIR Tau2]] employed by the ASCAMM LIFT IV Quadrotor as well as by AtlantikSolar in its special Sensor-Pod. 
  * A [[http://www.canon.co.uk/For_Home/Product_Finder/Cameras/Digital_Camera/IXUS/IXUS_130/|Canon IXUS 130]] utilized on-board the ASCAMM LIFT IV Quadrotor.
  * A [[http://www.sony.co.uk/support/en/product/HDR-AS100VW|Sony HDR-AS100VW]] GPS-tagged camera system carried on-board AtlantikSolar.

**How to load the Point-clouds:**

Loading the point-clouds provided here is a meaningful way to assess the quality of the inspection data. Indeed there exist multiple software solutions that allow processing. Among them, [[http://meshlab.sourceforge.net/|MeshLab]] and [[http://www.pointcloudviz.com/|PointCloudViz]] are free-of-charge software available for all major operating systems. Most of the point-clouds are relased in the form of [[http://en.wikipedia.org/wiki/PLY_(file_format)|*.PLY]] files while one is relased in the form of a [[http://en.wikipedia.org/wiki/Log_ASCII_Standard|*.LAS]] file.

**Permissions:**

Upon final release of the datasets, permission is provided to copy this data and use them for your own research. Inclusion of rendered images or video made from this data in a scholarly publication (printed or electronic) is also permitted. In all cases citation of the referenced work is requested. 

**Contact:** 

For any further information, do not hesitate to contact [[http://www.kostas-alexis.com/|Kostas Alexis]]

**Important note:**

These datasets are currently related with the aforementioned paper which is being considered for publication. Therefore, the authors will do their best to not further circulate this dataset while the review process holds.