Rafael Caballero, Pablo Jiménez, Francisco J. Pérez-Grau, Antidio Viguria and Aníbal Ollero (2023). Towards Safe Operations in Urban Environments with UAS. International Conference on Unmanned Aircraft Systems (ICUAS). ACCEPTED FOR PUBLICATION
Paper link: https://ieeexplore.ieee.org/document/10156360
This repository contains the attached data from the above mentioned publication. The following table provides each of the bag files with independent links. Given the large volume of data generated, the files have been compressed. Please remember to perform a rosbag decompress before using them. More info here.
| File Name | Test | Ouster Model | LIDAR Angle (degrees) | GPS Rel. Height (m) | Duration (min:s) | Size (GB) |
|---|---|---|---|---|---|---|
| t1_delorean_2021-04-27-10-51-32.bag | 1 | OS0-128 | 0 | 15 | 6:23 | 6.61 |
| t2_delorean_2021-04-27-11-13-41.bag | 2 | OS0-128 | 15 | 15-20 | 5:37 | 5.50 |
| t3_delorean_2021-04-27-11-48-43.bag | 3 | OS0-128 | 30 | 15-20 | 5:36 | 5.79 |
| t4_delorean_2021-04-27-12-43-10.bag | 4 | OS0-128 | 30 | 18-25 | 11:00 | 10.3 |
| t5_delorean_2021-04-27-13-08-30.bag | 5 | OS0-128 | 0 | 20 | 14:47 | 13.1 |
| t6_delorean_2021-04-28-10-23-29.bag | 6 | OS0-128 | 30 | 20 | 14:42 | 14.1 |
| t7_delorean_2021-04-28-12-28-26.bag | 7 | OS1-64 | 15 | 20 | 15:43 | 8.28 |
| t8_delorean_2021-04-28-12-58-12.bag | 8 | OS1-64 | 0 | 20 | 8:08 | 4.23 |
| t9_delorean_2021-04-28-13-14-20.bag | 9 | OS1-64 | 30 | 45 | 14:45 | 6.98 |
| t10_delorean_2021-04-29-11-11-19.bag | 10 | OS1-64 | 15 | 20 | 9:30 | 5.54 |
| t11_delorean_2021-04-29-12-01-36.bag | 11 | OS1-64 | 0 | 20 | 8:23 | 4.76 |
The extrinsic transforms between the different UAV frames are described in the following document: link
Regarding the IMU, find here its intrinsic parameters after 2 hours of static calibration: link
The original bag file for recalibration can be downloaded here: imu_calib_bagfile
If you use this data for any academic work, please cite our original paper:
@INPROCEEDINGS{10156360,
author={Caballero, Rafael and Jiménez, Pablo and Pérez-Grau, Francisco J. and Viguria, Antidio and Ollero, Aníbal},
booktitle={2023 International Conference on Unmanned Aircraft Systems (ICUAS)},
title={Towards Safe Operations in Urban Environments with UAVs},
year={2023},
volume={},
number={},
pages={336-342},
doi={10.1109/ICUAS57906.2023.10156360}}This work has been performed within the context of DELOREAN project, funded by the European Commission under contract 870251.