TY - JOUR
T1 - The Katwijk beach planetary rover dataset
AU - Hewitt, Robert A.
AU - Boukas, Evangelos
AU - Azkarate, Martin
AU - Pagnamenta, Marco
AU - Marshall, Joshua A.
AU - Gasteratos, Antonios
AU - Visentin, Gianfranco
PY - 2018/1/1
Y1 - 2018/1/1
N2 - This paper describes a dataset collected along a 1 km section of beach near Katwijk, The Netherlands, which was populated with a collection of artificial rocks of varying sizes to emulate known rock size densities at current and potential Mars landing sites. First, a fixed-wing unmanned aerial vehicle collected georeferenced images of the entire area. Then, the beach was traversed by a rocker-bogie-style rover equipped with a suite of sensors that are envisioned for use in future planetary rover missions. These sensors, configured so as to emulate the ExoMars rover, include stereo cameras, and time-of-flight and scanning light-detection-and-ranging sensors. This dataset will be of interest to researchers developing localization and mapping algorithms for vehicles traveling over natural and unstructured terrain in environments that do not have access to the global navigation satellite system, and where only previously taken satellite or aerial imagery is available.
AB - This paper describes a dataset collected along a 1 km section of beach near Katwijk, The Netherlands, which was populated with a collection of artificial rocks of varying sizes to emulate known rock size densities at current and potential Mars landing sites. First, a fixed-wing unmanned aerial vehicle collected georeferenced images of the entire area. Then, the beach was traversed by a rocker-bogie-style rover equipped with a suite of sensors that are envisioned for use in future planetary rover missions. These sensors, configured so as to emulate the ExoMars rover, include stereo cameras, and time-of-flight and scanning light-detection-and-ranging sensors. This dataset will be of interest to researchers developing localization and mapping algorithms for vehicles traveling over natural and unstructured terrain in environments that do not have access to the global navigation satellite system, and where only previously taken satellite or aerial imagery is available.
KW - Digital elevation model
KW - global localization
KW - light detection and ranging (LiDAR)
KW - space robotics
KW - stereo vision
UR - http://www.scopus.com/inward/record.url?scp=85041442850&partnerID=8YFLogxK
U2 - 10.1177/0278364917737153
DO - 10.1177/0278364917737153
M3 - Journal article
AN - SCOPUS:85041442850
SN - 0278-3649
VL - 37
SP - 3
EP - 12
JO - The International Journal of Robotics Research
JF - The International Journal of Robotics Research
IS - 1
ER -