7 papers · 1 filter
Collecting Larg-Scale Robotic Datasets on a High-Speed Mobile Platform
Yuxin Lin, Jiaxuan Ma, Sizhe Gu +6
Mobile robotics datasets are essential for research on robotics, for example for research on Simultaneous Localization and Mapping (SLAM). Therefore the ShanghaiTech Mapping Robot…
Detection and Utilization of Reflections in LiDAR Scans Through Plane Optimization and Plane SLAM
Yinjie Li, Xiting Zhao, Sören Schwertfeger
In LiDAR sensing, glass, mirrors and other material often cause inconsistent data readings, because the laser beams may report the distance of the glass, the distance of the object…
ShanghaiTech Mapping Robot is All You Need: Robot System for Collecting Universal Ground Vehicle Datasets
Bowen Xu, Xiting Zhao, Delin Feng +2
This paper presents the ShanghaiTech Mapping Robot, a state-of-the-art unmanned ground vehicle (UGV) designed for collecting comprehensive multi-sensor datasets to support research…
3DRef: 3D Dataset and Benchmark for Reflection Detection in RGB and Lidar Data
Xiting Zhao, Sören Schwertfeger
Reflective surfaces present a persistent challenge for reliable 3D mapping and perception in robotics and autonomous systems. However, existing reflection datasets and benchmarks r…
Advanced Mapping Robot and High-Resolution Dataset
Hongyu Chen, Zhijie Yang, Xiting Zhao +8
This paper presents a fully hardware synchronized mapping robot with support for a hardware synchronized external tracking system, for super-precise timing and localization. Nine h…
Mapping with Reflection -- Detection and Utilization of Reflection in 3D Lidar Scans
Xiting Zhao, Zhijie Yang, Sören Schwertfeger
This paper presents a method to detect reflection of 3D light detection and ranging (Lidar) scans and uses it to classify the points and also map objects outside the line of sight.…