Journal article Open Access

The GRIFFIN Perception Dataset: Bridging the Gap Between Flapping-Wing Flight and Robotic Perception

J. P. Rodríguez Gómez; R. Tapia; J. L. Paneque; P. Grau; A. Gómez Eguíluz; J. R. Martínez-de Dios; A. Ollero


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{
  "note": "Link to the Dataset:\nhttps://grvc.us.es/eye-bird-dataset/", 
  "DOI": "10.1109/LRA.2021.3056348", 
  "container_title": "IEEE Robotics and Automation Letters", 
  "title": "The GRIFFIN Perception Dataset: Bridging the Gap Between Flapping-Wing Flight and Robotic Perception", 
  "issued": {
    "date-parts": [
      [
        2021, 
        2, 
        2
      ]
    ]
  }, 
  "abstract": "<p>The development of automatic perception systems and techniques for bio-inspired flapping-wing robots is severely hampered by the high technical complexity of these platforms and the installation of onboard sensors and electronics. Besides, flapping-wing robot perception suffers from high vibration levels and abrupt movements during flight, which cause motion blur and strong changes in lighting conditions. This letter presents a perception dataset for bird-scale flapping-wing robots as a tool to help alleviate the aforementioned problems. The presented data include measurements from onboard sensors widely used in aerial robotics and suitable to deal with the perception challenges of flapping-wing robots, such as an event camera, a conventional camera, and two Inertial Measurement Units (IMUs), as well as ground truth measurements from a laser tracker or a motion capture system. A total of 21 datasets of different types of flights were collected in three different scenarios (one indoor and two outdoor). To the best of the authors&#39; knowledge this is the first dataset for flapping-wing robot perception.</p>", 
  "author": [
    {
      "family": "J. P. Rodr\u00edguez G\u00f3mez"
    }, 
    {
      "family": "R. Tapia"
    }, 
    {
      "family": "J. L. Paneque"
    }, 
    {
      "family": "P. Grau"
    }, 
    {
      "family": "A. G\u00f3mez Egu\u00edluz"
    }, 
    {
      "family": "J. R. Mart\u00ednez-de Dios"
    }, 
    {
      "family": "A. Ollero"
    }
  ], 
  "page": "1066-1073", 
  "volume": "6", 
  "type": "article-journal", 
  "issue": "2", 
  "id": "4916361"
}
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