Dataset Open Access

Robot navigation measurements driving in and out of the van

Relvas, Pedro; Ferreira, Francisco; Sobreira, Héber; Costa, Carlos; Rocha, Luís; Veiga, Germano


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  <identifier identifierType="DOI">10.5281/zenodo.2554950</identifier>
  <creators>
    <creator>
      <creatorName>Relvas, Pedro</creatorName>
      <givenName>Pedro</givenName>
      <familyName>Relvas</familyName>
      <nameIdentifier nameIdentifierScheme="ORCID" schemeURI="http://orcid.org/">0000-0002-8680-4290</nameIdentifier>
      <affiliation>INESC TEC</affiliation>
    </creator>
    <creator>
      <creatorName>Ferreira, Francisco</creatorName>
      <givenName>Francisco</givenName>
      <familyName>Ferreira</familyName>
      <affiliation>INESC TEC</affiliation>
    </creator>
    <creator>
      <creatorName>Sobreira, Héber</creatorName>
      <givenName>Héber</givenName>
      <familyName>Sobreira</familyName>
      <nameIdentifier nameIdentifierScheme="ORCID" schemeURI="http://orcid.org/">0000-0002-8055-1093</nameIdentifier>
      <affiliation>INESC TEC</affiliation>
    </creator>
    <creator>
      <creatorName>Costa, Carlos</creatorName>
      <givenName>Carlos</givenName>
      <familyName>Costa</familyName>
      <nameIdentifier nameIdentifierScheme="ORCID" schemeURI="http://orcid.org/">0000-0001-8453-4031</nameIdentifier>
      <affiliation>INESC TEC</affiliation>
    </creator>
    <creator>
      <creatorName>Rocha, Luís</creatorName>
      <givenName>Luís</givenName>
      <familyName>Rocha</familyName>
      <nameIdentifier nameIdentifierScheme="ORCID" schemeURI="http://orcid.org/">0000-0002-8680-4290</nameIdentifier>
      <affiliation>INESC TEC</affiliation>
    </creator>
    <creator>
      <creatorName>Veiga, Germano</creatorName>
      <givenName>Germano</givenName>
      <familyName>Veiga</familyName>
      <nameIdentifier nameIdentifierScheme="ORCID" schemeURI="http://orcid.org/">0000-0003-3044-6938</nameIdentifier>
      <affiliation>INESC TEC</affiliation>
    </creator>
  </creators>
  <titles>
    <title>Robot navigation measurements driving in and out of the van</title>
  </titles>
  <publisher>Zenodo</publisher>
  <publicationYear>2019</publicationYear>
  <subjects>
    <subject>navigation</subject>
    <subject>laser scans</subject>
    <subject>pose estimate</subject>
    <subject>ROS</subject>
    <subject>rosbag</subject>
  </subjects>
  <dates>
    <date dateType="Issued">2019-02-01</date>
  </dates>
  <resourceType resourceTypeGeneral="Dataset"/>
  <alternateIdentifiers>
    <alternateIdentifier alternateIdentifierType="url">https://zenodo.org/record/2554950</alternateIdentifier>
  </alternateIdentifiers>
  <relatedIdentifiers>
    <relatedIdentifier relatedIdentifierType="DOI" relationType="IsVersionOf">10.5281/zenodo.2554949</relatedIdentifier>
  </relatedIdentifiers>
  <rightsList>
    <rights rightsURI="https://creativecommons.org/licenses/by/4.0/legalcode">Creative Commons Attribution 4.0 International</rights>
    <rights rightsURI="info:eu-repo/semantics/openAccess">Open Access</rights>
  </rightsList>
  <descriptions>
    <description descriptionType="Abstract">&lt;p&gt;This dataset is a rosbag&amp;nbsp;which contains the laser scans and the pose of a Husky mobile robot, using the robot&amp;#39;s odometry and two SICK S300 laser scans to navigate.&lt;/p&gt;

&lt;p&gt;&lt;strong&gt;List of available topics:&lt;/strong&gt;&lt;/p&gt;

&lt;ol&gt;
	&lt;li&gt;/colrobot/hardware/scan_pointcloud&lt;/li&gt;
	&lt;li&gt;/colrobot/navigation/perfect_match/debug/LaserScanfiltered&lt;/li&gt;
	&lt;li&gt;/colrobot/navigation/perfect_match/LocalisationPoseResult&lt;/li&gt;
	&lt;li&gt;/colrobot/navigation/map&lt;/li&gt;
	&lt;li&gt;/tf&lt;/li&gt;
	&lt;li&gt;/tf_static&lt;/li&gt;
&lt;/ol&gt;

&lt;p&gt;&lt;strong&gt;Topics contents:&lt;/strong&gt;&lt;/p&gt;

&lt;ol&gt;
	&lt;li&gt;Pointcloud containing the merge of the two laser scans&amp;nbsp;&lt;/li&gt;
	&lt;li&gt;Pointcloud containing the laser scans which matched with the given map&lt;/li&gt;
	&lt;li&gt;Robot&amp;#39;s pose estimate&lt;/li&gt;
	&lt;li&gt;Map of the van (robot&amp;#39;s working area)&lt;/li&gt;
	&lt;li&gt;6. Transforms of the system&lt;/li&gt;
&lt;/ol&gt;</description>
  </descriptions>
  <fundingReferences>
    <fundingReference>
      <funderName>European Commission</funderName>
      <funderIdentifier funderIdentifierType="Crossref Funder ID">10.13039/501100000780</funderIdentifier>
      <awardNumber awardURI="info:eu-repo/grantAgreement/EC/H2020/688807/">688807</awardNumber>
      <awardTitle>Collaborative Robotics for Assembly and Kitting in Smart Manufacturing</awardTitle>
    </fundingReference>
  </fundingReferences>
</resource>
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