Ford Campus vision and lidar data set

Ford Campus Vision and Laser Data Set

This paper describes a dataset collected by an autonomous ground vehicle testbed, based upon a modified Ford F-250 pickup truck (Fig 1). The vehicle is outfitted with, a professional (Applanix POS LV) and consumer (Xsens MTI-G) Inertial Measuring Unit (IMU); along with a 3D Velodyne lidar scanner, two push-broom forward looking Riegl lidars, and a Point Grey Ladybug3 omnidirectional camera syst...

3D Scene Reconstruction Using Omnidirectional Vision and LiDAR: A Hybrid Approach

In this paper, we propose a novel approach to obtain accurate 3D reconstructions of large-scale environments by means of a mobile acquisition platform. The system incorporates a Velodyne LiDAR scanner, as well as a Point Grey Ladybug panoramic camera system. It was designed with genericity in mind, and hence, it does not make any assumption about the scene or about the sensor set-up. The main n...

Multi-Channel Generalized-ICP: A robust framework for multi-channel scan registration

Current state of the art scan registration algorithms which use only position information often fall victim to correspondence ambiguity and degeneracy in the optimization solutions. Other methods which use additional channels, such as color or intensity, often use only a small fraction of the available information and ignore the underlying structural information of the added channels. The propo...

Vision-Enhanced Lidar Odometry and Mapping

Vision-Enhanced Lidar Odometry and Mapping (VELO) is a new algorithm for simultaneous localization and mapping using a set of cameras and a lidar. By tightly coupling sparse visual odometry and lidar scanmatching, VELO is able to achieve reduced dri error compared to using either one or the other method. Moreover, the algorithm is capable of functioningwhen either the lidar or the camera is bli...

Deconvolution-Based Retrieving of Plasma Electron Temperature Pedestal from Thomson Scattering JET Core LIDAR Data Deconvolution-Based Retrieving of Plasma Electron Temperature Pedestal from Thomson Scattering JET Core LIDAR Data