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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  <identifier identifierType="URL">https://zenodo.org/record/4916361</identifier>
  <creators>
    <creator>
      <creatorName>J. P. Rodríguez Gómez</creatorName>
      <nameIdentifier nameIdentifierScheme="ORCID" schemeURI="http://orcid.org/">0000-0001-7628-1660</nameIdentifier>
      <affiliation>GRVC Robotics Lab, University of Seville</affiliation>
    </creator>
    <creator>
      <creatorName>R. Tapia</creatorName>
      <nameIdentifier nameIdentifierScheme="ORCID" schemeURI="http://orcid.org/">0000-0002-4435-5466</nameIdentifier>
      <affiliation>GRVC Robotics Lab, University of Seville</affiliation>
    </creator>
    <creator>
      <creatorName>J. L. Paneque</creatorName>
      <nameIdentifier nameIdentifierScheme="ORCID" schemeURI="http://orcid.org/">0000-0001-6998-7614</nameIdentifier>
      <affiliation>GRVC Robotics Lab, University of Seville</affiliation>
    </creator>
    <creator>
      <creatorName>P. Grau</creatorName>
      <nameIdentifier nameIdentifierScheme="ORCID" schemeURI="http://orcid.org/">0000-0002-2487-6301</nameIdentifier>
      <affiliation>GRVC Robotics Lab, University of Seville</affiliation>
    </creator>
    <creator>
      <creatorName>A. Gómez Eguíluz</creatorName>
      <nameIdentifier nameIdentifierScheme="ORCID" schemeURI="http://orcid.org/">0000-0002-2285-2605</nameIdentifier>
      <affiliation>GRVC Robotics Lab, University of Seville</affiliation>
    </creator>
    <creator>
      <creatorName>J. R. Martínez-de Dios</creatorName>
      <nameIdentifier nameIdentifierScheme="ORCID" schemeURI="http://orcid.org/">0000-0001-9431-7831</nameIdentifier>
      <affiliation>GRVC Robotics Lab, University of Seville</affiliation>
    </creator>
    <creator>
      <creatorName>A. Ollero</creatorName>
      <nameIdentifier nameIdentifierScheme="ORCID" schemeURI="http://orcid.org/">0000-0003-2155-2472</nameIdentifier>
      <affiliation>GRVC Robotics Lab, University of Seville</affiliation>
    </creator>
  </creators>
  <titles>
    <title>The GRIFFIN Perception Dataset: Bridging the Gap Between Flapping-Wing Flight and Robotic Perception</title>
  </titles>
  <publisher>Zenodo</publisher>
  <publicationYear>2021</publicationYear>
  <subjects>
    <subject>Data sets for robotic vision,  vision-based navigation,  aerial systems: Perception and autonomy ,  flapping-wing robots ,  event-based cameras</subject>
  </subjects>
  <dates>
    <date dateType="Issued">2021-02-02</date>
  </dates>
  <resourceType resourceTypeGeneral="JournalArticle"/>
  <alternateIdentifiers>
    <alternateIdentifier alternateIdentifierType="url">https://zenodo.org/record/4916361</alternateIdentifier>
  </alternateIdentifiers>
  <relatedIdentifiers>
    <relatedIdentifier relatedIdentifierType="DOI" relationType="IsIdenticalTo">10.1109/LRA.2021.3056348</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;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;</description>
    <description descriptionType="Other">Link to the Dataset:
https://grvc.us.es/eye-bird-dataset/</description>
  </descriptions>
  <fundingReferences>
    <fundingReference>
      <funderName>European Commission</funderName>
      <funderIdentifier funderIdentifierType="Crossref Funder ID">10.13039/501100000780</funderIdentifier>
      <awardNumber awardURI="info:eu-repo/grantAgreement/EC/H2020/788247/">788247</awardNumber>
      <awardTitle>General compliant aerial Robotic manipulation system Integrating Fixed and Flapping wings to INcrease range and safety</awardTitle>
    </fundingReference>
    <fundingReference>
      <funderName>European Commission</funderName>
      <funderIdentifier funderIdentifierType="Crossref Funder ID">10.13039/501100000780</funderIdentifier>
      <awardNumber awardURI="info:eu-repo/grantAgreement/EC/H2020/871479/">871479</awardNumber>
      <awardTitle>AERIAL COgnitive integrated multi-task Robotic system with Extended operation range and safety</awardTitle>
    </fundingReference>
  </fundingReferences>
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