Published March 28, 2023
| Version v1
Dataset
Open
Person detection using UWB and Monocular camera (With LiDAR ground-truth)
Description
This dataset was record using the ROS2-foxy framework and can be utilized with:
ros2 bag play square_test_with_gt| Name of ROS2 topic | Type of ROS2 topic | Information |
| /Detections | vision_msgs/msg/Detection2DArray | This topic includes person detections from the monocular camera that is performing the Deep Learning object detection |
| /GT_POINT | geometry_msgs/msg/PointStamped | Contains the PointStamped message obtained from the LiDAR person detection for ground truth purposes |
| /distance_data_array | itrci_hardware/msg/RadioRangeDataArray | This topic has person detections from the 3 UWB Anchors relative to the person TAG (Note that is in custom ros2 message itrci_hardware) |
| /tf | tf2_msgs/msg/TFMessage | base_link and odom tf (robot is static) |
| /tf_static | tf2_msgs/msg/TFMessage | Contains tf information of LiDAR cameras and anchors relative to the robot base_link |
Notes
The folder must be unzipped to use