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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{
  "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": "https://creativecommons.org/licenses/by/4.0/legalcode", 
  "creator": [
    {
      "affiliation": "GRVC Robotics Lab, University of Seville", 
      "@id": "https://orcid.org/0000-0001-7628-1660", 
      "@type": "Person", 
      "name": "J. P. Rodr\u00edguez G\u00f3mez"
    }, 
    {
      "affiliation": "GRVC Robotics Lab, University of Seville", 
      "@id": "https://orcid.org/0000-0002-4435-5466", 
      "@type": "Person", 
      "name": "R. Tapia"
    }, 
    {
      "affiliation": "GRVC Robotics Lab, University of Seville", 
      "@id": "https://orcid.org/0000-0001-6998-7614", 
      "@type": "Person", 
      "name": "J. L. Paneque"
    }, 
    {
      "affiliation": "GRVC Robotics Lab, University of Seville", 
      "@id": "https://orcid.org/0000-0002-2487-6301", 
      "@type": "Person", 
      "name": "P. Grau"
    }, 
    {
      "affiliation": "GRVC Robotics Lab, University of Seville", 
      "@id": "https://orcid.org/0000-0002-2285-2605", 
      "@type": "Person", 
      "name": "A. G\u00f3mez Egu\u00edluz"
    }, 
    {
      "affiliation": "GRVC Robotics Lab, University of Seville", 
      "@id": "https://orcid.org/0000-0001-9431-7831", 
      "@type": "Person", 
      "name": "J. R. Mart\u00ednez-de Dios"
    }, 
    {
      "affiliation": "GRVC Robotics Lab, University of Seville", 
      "@id": "https://orcid.org/0000-0003-2155-2472", 
      "@type": "Person", 
      "name": "A. Ollero"
    }
  ], 
  "headline": "The GRIFFIN Perception Dataset: Bridging the Gap Between Flapping-Wing Flight and Robotic Perception", 
  "image": "https://zenodo.org/static/img/logos/zenodo-gradient-round.svg", 
  "datePublished": "2021-02-02", 
  "url": "https://zenodo.org/record/4916361", 
  "keywords": [
    "Data sets for robotic vision,  vision-based navigation,  aerial systems: Perception and autonomy ,  flapping-wing robots ,  event-based cameras"
  ], 
  "@context": "https://schema.org/", 
  "identifier": "https://doi.org/10.1109/LRA.2021.3056348", 
  "@id": "https://doi.org/10.1109/LRA.2021.3056348", 
  "@type": "ScholarlyArticle", 
  "name": "The GRIFFIN Perception Dataset: Bridging the Gap Between Flapping-Wing Flight and Robotic Perception"
}
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