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CID-SIMS: Complex indoor dataset with semantic information and multi-sensor data from a ground wheeled robot viewpoint

文献类型：期刊论文

作者Zhang, Yidi1,2; An, Ning3; Shi, Chenhui2; Wang, Shuo1,2; Wei, Hao2; Zhang, Pengju2; Meng, Xinrui3; Sun, Zengpeng3; Wang, Jinke3; Liang, Wenliang3
刊名INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
出版日期2023-12-21
页码19
关键词Dataset ground wheeled robots semantic segmentation multi-sensor data simultaneous localization and mapping 3D reconstruction
ISSN号0278-3649
DOI10.1177/02783649231222507
通讯作者Tang, Fulin(fulin.tang@nlpr.ia.ac.cn) ; Wu, Yihong(yhwu@nlpr.ia.ac.cn)
英文摘要Simultaneous localization and mapping (SLAM) and 3D reconstruction have numerous applications for indoor ground wheeled robots such as floor sweeping and food delivery. To advance research in leveraging semantic information and multi-sensor data to enhance the performances of SLAM and 3D reconstruction in complex indoor scenes, we propose a novel and complex indoor dataset named CID-SIMS, where semantic annotated RGBD images, inertial measurement unit (IMU) measurements, and wheel odometer data are provided from a ground wheeled robot viewpoint. The dataset consists of 22 challenging sequences captured in nine different scenes including office building and apartment environments. Notably, our dataset achieves two significant breakthroughs. Firstly, semantic information and multi-sensor data are provided meanwhile for the first time. Secondly, GeoSLAM is utilized for the first time to generate ground truth trajectories and 3D point clouds within two-centimeter accuracy. With spatial-temporal synchronous ground truth trajectories and 3D point clouds, our dataset is capable of evaluating SLAM and 3D reconstruction algorithms in a unified global coordinate system. We evaluate state-of-the-art SLAM and 3D reconstruction approaches on our dataset, demonstrating that our benchmark is applicable. The dataset is publicly available on https://cid-sims.github.io.
WOS关键词EXTRINSIC CALIBRATION ; CAMERA ; SLAM ; LOCALIZATION ; VERSATILE ; VISION ; LIDAR
资助项目National Key Research and Development Program of China[2022YFB3303202] ; National Key R&D Program of China[61836015] ; National Key R&D Program of China[62202468] ; National Natural Science Foundation of China
WOS研究方向Robotics
语种英语
WOS记录号WOS:001128508800001
出版者SAGE PUBLICATIONS LTD
资助机构National Key Research and Development Program of China ; National Key R&D Program of China ; National Natural Science Foundation of China
源URL[http://ir.ia.ac.cn/handle/173211/54880]  
专题多模态人工智能系统全国重点实验室
通讯作者Tang, Fulin; Wu, Yihong
作者单位1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing, Peoples R China
2.Chinese Acad Sci, Inst Automat, State Key Lab Multimodal Artificial Intelligence, 95 Zhongguancun East Rd, Beijing 100190, Peoples R China
3.Horizon Robot, Beijing, Peoples R China
推荐引用方式
GB/T 7714		 Zhang, Yidi,An, Ning,Shi, Chenhui,et al. CID-SIMS: Complex indoor dataset with semantic information and multi-sensor data from a ground wheeled robot viewpoint[J]. INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH,2023:19.
APA Zhang, Yidi.,An, Ning.,Shi, Chenhui.,Wang, Shuo.,Wei, Hao.,...&Wu, Yihong.(2023).CID-SIMS: Complex indoor dataset with semantic information and multi-sensor data from a ground wheeled robot viewpoint.INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH,19.
MLA Zhang, Yidi,et al."CID-SIMS: Complex indoor dataset with semantic information and multi-sensor data from a ground wheeled robot viewpoint".INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH (2023):19.

入库方式： OAI收割

来源：自动化研究所

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