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


JSON Export

{
  "files": [
    {
      "links": {
        "self": "https://zenodo.org/api/files/b14f64cb-5d73-48b2-b7d2-1c9ce5e950f2/RAL-2020.pdf"
      }, 
      "checksum": "md5:950f7dad036b48eea1352abdd2729b81", 
      "bucket": "b14f64cb-5d73-48b2-b7d2-1c9ce5e950f2", 
      "key": "RAL-2020.pdf", 
      "type": "pdf", 
      "size": 13941503
    }
  ], 
  "owners": [
    233903
  ], 
  "doi": "10.1109/LRA.2021.3056348", 
  "stats": {
    "version_unique_downloads": 75.0, 
    "unique_views": 33.0, 
    "views": 41.0, 
    "version_views": 41.0, 
    "unique_downloads": 75.0, 
    "version_unique_views": 33.0, 
    "volume": 1115320240.0, 
    "version_downloads": 80.0, 
    "downloads": 80.0, 
    "version_volume": 1115320240.0
  }, 
  "links": {
    "doi": "https://doi.org/10.1109/LRA.2021.3056348", 
    "latest_html": "https://zenodo.org/record/4916361", 
    "bucket": "https://zenodo.org/api/files/b14f64cb-5d73-48b2-b7d2-1c9ce5e950f2", 
    "badge": "https://zenodo.org/badge/doi/10.1109/LRA.2021.3056348.svg", 
    "html": "https://zenodo.org/record/4916361", 
    "latest": "https://zenodo.org/api/records/4916361"
  }, 
  "created": "2021-06-09T11:10:34.447386+00:00", 
  "updated": "2021-07-07T14:25:09.376442+00:00", 
  "conceptrecid": "4916360", 
  "revision": 3, 
  "id": 4916361, 
  "metadata": {
    "access_right_category": "success", 
    "doi": "10.1109/LRA.2021.3056348", 
    "description": "<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>", 
    "license": {
      "id": "CC-BY-4.0"
    }, 
    "title": "The GRIFFIN Perception Dataset: Bridging the Gap Between Flapping-Wing Flight and Robotic Perception", 
    "journal": {
      "volume": "6", 
      "issue": "2", 
      "pages": "1066-1073", 
      "title": "IEEE Robotics and Automation Letters"
    }, 
    "relations": {
      "version": [
        {
          "count": 1, 
          "index": 0, 
          "parent": {
            "pid_type": "recid", 
            "pid_value": "4916360"
          }, 
          "is_last": true, 
          "last_child": {
            "pid_type": "recid", 
            "pid_value": "4916361"
          }
        }
      ]
    }, 
    "access_right": "open", 
    "grants": [
      {
        "code": "788247", 
        "links": {
          "self": "https://zenodo.org/api/grants/10.13039/501100000780::788247"
        }, 
        "title": "General compliant aerial Robotic manipulation system Integrating Fixed and Flapping wings to INcrease range and safety", 
        "acronym": "GRIFFIN", 
        "program": "H2020", 
        "funder": {
          "doi": "10.13039/501100000780", 
          "acronyms": [], 
          "name": "European Commission", 
          "links": {
            "self": "https://zenodo.org/api/funders/10.13039/501100000780"
          }
        }
      }, 
      {
        "code": "871479", 
        "links": {
          "self": "https://zenodo.org/api/grants/10.13039/501100000780::871479"
        }, 
        "title": "AERIAL COgnitive integrated multi-task Robotic system with Extended operation range and safety", 
        "acronym": "AERIAL-CORE", 
        "program": "H2020", 
        "funder": {
          "doi": "10.13039/501100000780", 
          "acronyms": [], 
          "name": "European Commission", 
          "links": {
            "self": "https://zenodo.org/api/funders/10.13039/501100000780"
          }
        }
      }
    ], 
    "keywords": [
      "Data sets for robotic vision,  vision-based navigation,  aerial systems: Perception and autonomy ,  flapping-wing robots ,  event-based cameras"
    ], 
    "publication_date": "2021-02-02", 
    "creators": [
      {
        "orcid": "0000-0001-7628-1660", 
        "affiliation": "GRVC Robotics Lab, University of Seville", 
        "name": "J. P. Rodr\u00edguez G\u00f3mez"
      }, 
      {
        "orcid": "0000-0002-4435-5466", 
        "affiliation": "GRVC Robotics Lab, University of Seville", 
        "name": "R. Tapia"
      }, 
      {
        "orcid": "0000-0001-6998-7614", 
        "affiliation": "GRVC Robotics Lab, University of Seville", 
        "name": "J. L. Paneque"
      }, 
      {
        "orcid": "0000-0002-2487-6301", 
        "affiliation": "GRVC Robotics Lab, University of Seville", 
        "name": "P. Grau"
      }, 
      {
        "orcid": "0000-0002-2285-2605", 
        "affiliation": "GRVC Robotics Lab, University of Seville", 
        "name": "A. G\u00f3mez Egu\u00edluz"
      }, 
      {
        "orcid": "0000-0001-9431-7831", 
        "affiliation": "GRVC Robotics Lab, University of Seville", 
        "name": "J. R. Mart\u00ednez-de Dios"
      }, 
      {
        "orcid": "0000-0003-2155-2472", 
        "affiliation": "GRVC Robotics Lab, University of Seville", 
        "name": "A. Ollero"
      }
    ], 
    "notes": "Link to the Dataset:\nhttps://grvc.us.es/eye-bird-dataset/", 
    "resource_type": {
      "subtype": "article", 
      "type": "publication", 
      "title": "Journal article"
    }
  }
}
41
80
views
downloads
Views 41
Downloads 80
Data volume 1.1 GB
Unique views 33
Unique downloads 75

Share

Cite as