AERO-CAM Localization Dataset at Alora Viaduct
Description
This dataset contains different flight sequences performed with the AERO-CAM platform on the Alora viaduct for the development of the PILOTING project. In all the sequences the platform takes off from the base of the viaduct and flies under one of the viaduct decks.
The AERO-CAM platform is a DJI M600pro with a LiDAR Ouster OS0-128 mounted on its bottom. Autopilot data (IMU, GPS + Barometric Altimeter), plus the LiDAR point cloud itself and a laser altimeter are available. Position ground truth is provided by a total station. Rosbags are compressed due to their large size because they contain point clouds messages.
The following static transforms are required for the correct RViz visualization of the data:
- odom_2_odom_r - args="0.0 0.0 0.0 0.0 0.0 3.14159 odom odom_r"
- baselink_2_gimbal_fixed - args="0.0 0.0 0.107 0.0 0.0 0.0 1.0 base_link gimbal_fixed_link"
- gimbal_camera_2_camera - args="-0.0319 0.0046 0.0 0.0 0.0 0.0 1.0 gimbal_camera_link camera"
- baselink_2_lidar - args="0.0 0.0 -0.33 0.0 0.0 3.141592 base_link os_lidar"
If required, the map to odom transform can be obtained with the first message from the total station on each flight.