Perception Sensor Dataset For Bioinspired Landing Trajectories Of An Ornithopter Robot

The dataset contains the measurements captured by several onboard sensors during the landing maneuvers of an ornithopter robot. Each dataset contains a ROS bag file with the sensor measurements, a file with the bioinspired trajectory, a file with the events generated by the simulated event-based sensor, and a README file with the instructions to use the dataset.

The bioinspired landing trajectories are computed using Tau Theory. Each landing trajectory test was performed in a simulated scenario. The object models of each scene can be found in the /model/meshes folder of each scene. There are two testing scenes: (i) a warehouse and (ii) a refinery. The file object_pose.csv includes the position and orientation of each object in the scene. The sensor measurements were saved in rosbag file that contains a topic for each sensor measurement. The dataset includes information from the following simulated sensors:

• Velodyne HDL-32E
• Sonar sensor with a range of 20 m
• IMU
• Frame based monocular camera
• Event camera