Sangwoo Jung, Wooseong Yang and Ayoung Kim*.
- Our work, Co-RaL is accepted for IROS 2024.
- Spot ego-velocity estimator is now released as an open-source.
- An extended research, GaRLILEO is now released as an open-source.
Welcome to Co-RaL-Dataset!
This repository includes the experimental dataset acquired to evaluate our radar-leg odometry algorithm, Co-RaL, which is accepted to IEEE IROS 2024. Our dataset includes sensor data of chip radar, imu, velodyne, and kinematic data from Boston Dynamics SPOT (Joint encoders and contact sensors). Each sequence is acquired with different environments to evaluate the algorithm performance generally. The dataset is provided with ROS Bag file format.
| Sensor | Model | Data Type | Freq | ROS Topic |
|---|---|---|---|---|
| chip radar | AWR1843BOOST | 4D radar pointcloud | 20Hz | /radar_0/radarcloud_gather |
| IMU | 3dm-gx5-25 | 9 DoF IMU data (Acc, ang Vel, orien) | 100Hz | /imu |
| LiDAR | Velodyne VLP-16 | 3D LiDAR pointcloud | 10Hz | /velodyne_points |
| Joint Encoder | Spot Joint Sensor | 12 float values (List) | 180Hz | /joint_states |
| Contact Sensor | Spot Contact Sensor | 4 boolean values (List) | 180Hz | /spot/status/feet |
| Time | - | ROS time | - | /clock |
The extrinsic calibration of the sensor system is same with SNU system of GaRLILEO, an extended research of radar-leg-Imu sensor fusion odometry.
| Sequence | Environment | Stair | Slope | Narrow Path | Path Length (m) | Elevation Change (m) | Duration (s) | Avg. vel. (m/s) |
|---|---|---|---|---|---|---|---|---|
| Stair | Outdoor | ✔ | ✔ | ❌ | 253.24 | 15.12 | 304.40 | 0.832 |
| Under | Indoor | ❌ | ✔ | ❌ | 227.02 | 3.23 | 258.50 | 0.878 |
| Narrow | Outdoor | ❌ | ❌ | ✔ | 134.86 | - | 151.39 | 0.891 |
| Trail | Outdoor | ❌ | ✔ | ❌ | 230.10 | 11.37 | 253.36 | 0.908 |
| Garage | Hybrid | ❌ | ❌ | ✔ | 138.52 | - | 161.68 | 0.857 |
| Building | Hybrid | ✔ | ✔ | ❌ | 252.86 | 8.26 | 291.89 | 0.866 |
This dataset is provided for academic purposes. If you encounter technical problems, please contact <Sangwoo Jung: [email protected]>.
This work was supported by the MOTIE (1415187329) and MSIT (No.2022-0-00480).
@inproceedings{jung2024co,
title = {Co-RaL: Complementary Radar-Leg Odometry with 4-DoF Optimization and Rolling Contact},
author = {Jung, Sangwoo and Yang, Wooseong and Kim, Ayoung},
booktitle = {2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {13289-13296},
year = {2024},
}