论文标题
野生场所:在非结构化自然环境中识别激光雷达场所的大规模数据集
Wild-Places: A Large-Scale Dataset for Lidar Place Recognition in Unstructured Natural Environments
论文作者
论文摘要
许多现有用于LIDAR场所的数据集识别仅代表结构化城市环境,并且最近通过基于深度学习的方法使性能饱和。自然和非结构化环境为长期本地化任务带来了许多其他挑战,但是这些环境在当前可用的数据集中并未表示。为了解决这个问题,我们介绍了野生空间,这是一个充满挑战的大规模数据集,用于在非结构化的自然环境中识别LiDAR Place。野生空间包含14个月内用手持传感器有效载荷收集的八个LiDAR序列,其中包含63K未经发生的激光雷达子胶和准确的6DOF地面真相。我们的数据集包含序列内部和序列之间的多次重新审视,允许内部序列(即循环闭合检测)和间序(即重新定位)识别位置识别。我们还基准了几种最先进的方法来证明该数据集引入的挑战,尤其是由于自然环境随着时间而变化而导致的长期位置识别情况。我们的数据集和代码将在https://csiro-robotics.github.io/wild-places上提供。
Many existing datasets for lidar place recognition are solely representative of structured urban environments, and have recently been saturated in performance by deep learning based approaches. Natural and unstructured environments present many additional challenges for the tasks of long-term localisation but these environments are not represented in currently available datasets. To address this we introduce Wild-Places, a challenging large-scale dataset for lidar place recognition in unstructured, natural environments. Wild-Places contains eight lidar sequences collected with a handheld sensor payload over the course of fourteen months, containing a total of 63K undistorted lidar submaps along with accurate 6DoF ground truth. Our dataset contains multiple revisits both within and between sequences, allowing for both intra-sequence (i.e. loop closure detection) and inter-sequence (i.e. re-localisation) place recognition. We also benchmark several state-of-the-art approaches to demonstrate the challenges that this dataset introduces, particularly the case of long-term place recognition due to natural environments changing over time. Our dataset and code will be available at https://csiro-robotics.github.io/Wild-Places.