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


DCAT Export

<?xml version='1.0' encoding='utf-8'?>
<rdf:RDF xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#" xmlns:adms="http://www.w3.org/ns/adms#" xmlns:dc="http://purl.org/dc/elements/1.1/" xmlns:dct="http://purl.org/dc/terms/" xmlns:dctype="http://purl.org/dc/dcmitype/" xmlns:dcat="http://www.w3.org/ns/dcat#" xmlns:duv="http://www.w3.org/ns/duv#" xmlns:foaf="http://xmlns.com/foaf/0.1/" xmlns:frapo="http://purl.org/cerif/frapo/" xmlns:geo="http://www.w3.org/2003/01/geo/wgs84_pos#" xmlns:gsp="http://www.opengis.net/ont/geosparql#" xmlns:locn="http://www.w3.org/ns/locn#" xmlns:org="http://www.w3.org/ns/org#" xmlns:owl="http://www.w3.org/2002/07/owl#" xmlns:prov="http://www.w3.org/ns/prov#" xmlns:rdfs="http://www.w3.org/2000/01/rdf-schema#" xmlns:schema="http://schema.org/" xmlns:skos="http://www.w3.org/2004/02/skos/core#" xmlns:vcard="http://www.w3.org/2006/vcard/ns#" xmlns:wdrs="http://www.w3.org/2007/05/powder-s#">
  <rdf:Description rdf:about="https://zenodo.org/record/4916361">
    <dct:identifier rdf:datatype="http://www.w3.org/2001/XMLSchema#anyURI">https://zenodo.org/record/4916361</dct:identifier>
    <foaf:page rdf:resource="https://zenodo.org/record/4916361"/>
    <dct:creator>
      <rdf:Description rdf:about="http://orcid.org/0000-0001-7628-1660">
        <rdf:type rdf:resource="http://xmlns.com/foaf/0.1/Agent"/>
        <dct:identifier rdf:datatype="http://www.w3.org/2001/XMLSchema#string">0000-0001-7628-1660</dct:identifier>
        <foaf:name>J. P. Rodríguez Gómez</foaf:name>
        <org:memberOf>
          <foaf:Organization>
            <foaf:name>GRVC Robotics Lab, University of Seville</foaf:name>
          </foaf:Organization>
        </org:memberOf>
      </rdf:Description>
    </dct:creator>
    <dct:creator>
      <rdf:Description rdf:about="http://orcid.org/0000-0002-4435-5466">
        <rdf:type rdf:resource="http://xmlns.com/foaf/0.1/Agent"/>
        <dct:identifier rdf:datatype="http://www.w3.org/2001/XMLSchema#string">0000-0002-4435-5466</dct:identifier>
        <foaf:name>R. Tapia</foaf:name>
        <org:memberOf>
          <foaf:Organization>
            <foaf:name>GRVC Robotics Lab, University of Seville</foaf:name>
          </foaf:Organization>
        </org:memberOf>
      </rdf:Description>
    </dct:creator>
    <dct:creator>
      <rdf:Description rdf:about="http://orcid.org/0000-0001-6998-7614">
        <rdf:type rdf:resource="http://xmlns.com/foaf/0.1/Agent"/>
        <dct:identifier rdf:datatype="http://www.w3.org/2001/XMLSchema#string">0000-0001-6998-7614</dct:identifier>
        <foaf:name>J. L. Paneque</foaf:name>
        <org:memberOf>
          <foaf:Organization>
            <foaf:name>GRVC Robotics Lab, University of Seville</foaf:name>
          </foaf:Organization>
        </org:memberOf>
      </rdf:Description>
    </dct:creator>
    <dct:creator>
      <rdf:Description rdf:about="http://orcid.org/0000-0002-2487-6301">
        <rdf:type rdf:resource="http://xmlns.com/foaf/0.1/Agent"/>
        <dct:identifier rdf:datatype="http://www.w3.org/2001/XMLSchema#string">0000-0002-2487-6301</dct:identifier>
        <foaf:name>P. Grau</foaf:name>
        <org:memberOf>
          <foaf:Organization>
            <foaf:name>GRVC Robotics Lab, University of Seville</foaf:name>
          </foaf:Organization>
        </org:memberOf>
      </rdf:Description>
    </dct:creator>
    <dct:creator>
      <rdf:Description rdf:about="http://orcid.org/0000-0002-2285-2605">
        <rdf:type rdf:resource="http://xmlns.com/foaf/0.1/Agent"/>
        <dct:identifier rdf:datatype="http://www.w3.org/2001/XMLSchema#string">0000-0002-2285-2605</dct:identifier>
        <foaf:name>A. Gómez Eguíluz</foaf:name>
        <org:memberOf>
          <foaf:Organization>
            <foaf:name>GRVC Robotics Lab, University of Seville</foaf:name>
          </foaf:Organization>
        </org:memberOf>
      </rdf:Description>
    </dct:creator>
    <dct:creator>
      <rdf:Description rdf:about="http://orcid.org/0000-0001-9431-7831">
        <rdf:type rdf:resource="http://xmlns.com/foaf/0.1/Agent"/>
        <dct:identifier rdf:datatype="http://www.w3.org/2001/XMLSchema#string">0000-0001-9431-7831</dct:identifier>
        <foaf:name>J. R. Martínez-de Dios</foaf:name>
        <org:memberOf>
          <foaf:Organization>
            <foaf:name>GRVC Robotics Lab, University of Seville</foaf:name>
          </foaf:Organization>
        </org:memberOf>
      </rdf:Description>
    </dct:creator>
    <dct:creator>
      <rdf:Description rdf:about="http://orcid.org/0000-0003-2155-2472">
        <rdf:type rdf:resource="http://xmlns.com/foaf/0.1/Agent"/>
        <dct:identifier rdf:datatype="http://www.w3.org/2001/XMLSchema#string">0000-0003-2155-2472</dct:identifier>
        <foaf:name>A. Ollero</foaf:name>
        <org:memberOf>
          <foaf:Organization>
            <foaf:name>GRVC Robotics Lab, University of Seville</foaf:name>
          </foaf:Organization>
        </org:memberOf>
      </rdf:Description>
    </dct:creator>
    <dct:title>The GRIFFIN Perception Dataset: Bridging the Gap Between Flapping-Wing Flight and Robotic Perception</dct:title>
    <dct:publisher>
      <foaf:Agent>
        <foaf:name>Zenodo</foaf:name>
      </foaf:Agent>
    </dct:publisher>
    <dct:issued rdf:datatype="http://www.w3.org/2001/XMLSchema#gYear">2021</dct:issued>
    <dcat:keyword>Data sets for robotic vision, vision-based navigation, aerial systems: Perception and autonomy , flapping-wing robots , event-based cameras</dcat:keyword>
    <frapo:isFundedBy rdf:resource="info:eu-repo/grantAgreement/EC/H2020/788247/"/>
    <schema:funder>
      <foaf:Organization>
        <dct:identifier rdf:datatype="http://www.w3.org/2001/XMLSchema#string">10.13039/501100000780</dct:identifier>
        <foaf:name>European Commission</foaf:name>
      </foaf:Organization>
    </schema:funder>
    <frapo:isFundedBy rdf:resource="info:eu-repo/grantAgreement/EC/H2020/871479/"/>
    <schema:funder>
      <foaf:Organization>
        <dct:identifier rdf:datatype="http://www.w3.org/2001/XMLSchema#string">10.13039/501100000780</dct:identifier>
        <foaf:name>European Commission</foaf:name>
      </foaf:Organization>
    </schema:funder>
    <dct:issued rdf:datatype="http://www.w3.org/2001/XMLSchema#date">2021-02-02</dct:issued>
    <owl:sameAs rdf:resource="https://zenodo.org/record/4916361"/>
    <adms:identifier>
      <adms:Identifier>
        <skos:notation rdf:datatype="http://www.w3.org/2001/XMLSchema#anyURI">https://zenodo.org/record/4916361</skos:notation>
        <adms:schemeAgency>url</adms:schemeAgency>
      </adms:Identifier>
    </adms:identifier>
    <owl:sameAs rdf:resource="https://doi.org/10.1109/LRA.2021.3056348"/>
    <dct:description>&lt;p&gt;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&amp;#39; knowledge this is the first dataset for flapping-wing robot perception.&lt;/p&gt;</dct:description>
    <dct:description>Link to the Dataset: https://grvc.us.es/eye-bird-dataset/</dct:description>
    <dct:accessRights rdf:resource="http://publications.europa.eu/resource/authority/access-right/PUBLIC"/>
    <dct:accessRights>
      <dct:RightsStatement rdf:about="info:eu-repo/semantics/openAccess">
        <rdfs:label>Open Access</rdfs:label>
      </dct:RightsStatement>
    </dct:accessRights>
    <dct:license rdf:resource="https://creativecommons.org/licenses/by/4.0/legalcode"/>
    <dcat:distribution>
      <dcat:Distribution>
        <dcat:accessURL rdf:resource="https://doi.org/10.1109/LRA.2021.3056348"/>
        <dcat:byteSize>13941503</dcat:byteSize>
        <dcat:downloadURL rdf:resource="https://zenodo.org/record/4916361/files/RAL-2020.pdf"/>
        <dcat:mediaType>application/pdf</dcat:mediaType>
      </dcat:Distribution>
    </dcat:distribution>
  </rdf:Description>
  <foaf:Project rdf:about="info:eu-repo/grantAgreement/EC/H2020/788247/">
    <dct:identifier rdf:datatype="http://www.w3.org/2001/XMLSchema#string">788247</dct:identifier>
    <dct:title>General compliant aerial Robotic manipulation system Integrating Fixed and Flapping wings to INcrease range and safety</dct:title>
    <frapo:isAwardedBy>
      <foaf:Organization>
        <dct:identifier rdf:datatype="http://www.w3.org/2001/XMLSchema#string">10.13039/501100000780</dct:identifier>
        <foaf:name>European Commission</foaf:name>
      </foaf:Organization>
    </frapo:isAwardedBy>
  </foaf:Project>
  <foaf:Project rdf:about="info:eu-repo/grantAgreement/EC/H2020/871479/">
    <dct:identifier rdf:datatype="http://www.w3.org/2001/XMLSchema#string">871479</dct:identifier>
    <dct:title>AERIAL COgnitive integrated multi-task Robotic system with Extended operation range and safety</dct:title>
    <frapo:isAwardedBy>
      <foaf:Organization>
        <dct:identifier rdf:datatype="http://www.w3.org/2001/XMLSchema#string">10.13039/501100000780</dct:identifier>
        <foaf:name>European Commission</foaf:name>
      </foaf:Organization>
    </frapo:isAwardedBy>
  </foaf:Project>
</rdf:RDF>
41
79
views
downloads
Views 41
Downloads 79
Data volume 1.1 GB
Unique views 33
Unique downloads 74

Share

Cite as