├── README.md └── doc ├── Aerial-platform.png ├── GRACO: A Multimodal Dataset for Ground and Aerial Cooperative Localization and Mapping.pdf ├── Ground-platform.png ├── cover-img.png ├── duration-length.png ├── ros_topics.png ├── sequence-aerial.png └── sequence-ground.png /README.md: -------------------------------------------------------------------------------- 1 | # GrAco 2 | 3 | ## A Multimodal-Heterogeneous Dataset for Ground and Aerial Cooperative Localization and Mapping 4 | 5 |
6 | 7 |
8 | 9 | ***GrAco***, is a dataset that includes both ground and aerial views. The main characteristics of our dataset are as follows: 10 | 11 | - **Multimodal-Heterogeneous data:** An available and completely public dataset for C-SLAM research. It includes multi-modal data (inertial measurement unit (IMU), cameras, Light Detection and Ranging (LiDAR), and Global Positioning System (GPS)) in large-scale urban scenes collected by a fleet of ground and aerial vehicles. 12 | - **High precision:** sensors are synchronized with millisecond-level and well calibrated. Centimeter-level ground truth localization obtained from RTK GNSS is provided. 13 | - **Loop closures between robots:** Encounters among robots are designed during data collection, providing useful scenarios to the C-SLAM research. 14 | 15 | **Here is the download page provided for convenience. For more details, please visit our dataset website: https://sites.google.com/view/graco-dataset.** 16 | 17 | **Contributors** 18 | 19 | [Yilin Zhu](https://github.com/inntoy), [Yang Kong](https://github.com/JoenHune), [Yingrui Jie](https://github.com/jieyr3Rui), Shiyou Xu and [Hui Cheng](https://cse.sysu.edu.cn/content/2504) from [SYSU RAPID Lab](http://lab.sysu-robotics.com/index.html). 20 | 21 | If our work has helped you, please cite: 22 | 23 | ``` 24 | @article{DBLP:journals/ral/ZhuKJXC23, 25 | author = {Yilin Zhu and 26 | Yang Kong and 27 | Yingrui Jie and 28 | Shiyou Xu and 29 | Hui Cheng}, 30 | title = {GRACO: A Multimodal Dataset for Ground and Aerial Cooperative Localization and Mapping}, 31 | journal = {{IEEE} Robotics Autom. Lett.}, 32 | volume = {8}, 33 | number = {2}, 34 | pages = {966--973}, 35 | year = {2023} 36 | } 37 | ``` 38 | 39 | ## **Inedx** 40 | 41 | 1. [Data format](#data_format) 42 | 2. [Download](#download) 43 | - [Ground sequence](#Ground_sequence) 44 | - [Aerial sequence](#Aerial_sequence) 45 | 46 | 47 | 48 | ## 1. Data format 49 | 50 | We provide data in rosbag file format (ROS1 and ROS2 format), and sift out six ground sequences and eight aerialsequences. In addition, we provide a relatively small sample sequence for ground and aerial respectively. Here are topics (ROS1 format) that each bag has. 51 | 52 |
53 | 54 |
55 | 56 | 57 | 58 | ## 2. Download 59 | 60 | We provided a total of 6 ground sequences and 8 air sequences. Acquisition equipment and sequences are shown in the corresponding pictures. The duration and length of each sequence are shown below. 61 | 62 |
63 | 64 |
65 | 66 | 67 | 68 | ### 1. Ground sequence 69 | 70 |
71 | 72 | 73 |
74 | 75 | 76 | | Sequence | ROS1 bag | ROS2 bag | Ground truth file | Calibration file | 77 | | :-------------------: | :----------------------------------------------------------: | :----------------------------------------------------------: | :----------------------------------------------------------: | :----------------------------------------------------------: | 78 | | sample-ground (3.0GB) | [√](https://1drv.ms/u/s!AmSRwVTuK0YFgRk-P5YAqh9zYEQ_?e=Lr3sy2) | - | [√](https://1drv.ms/t/s!AmSRwVTuK0YFgQ87Vcks-OtL1Mb6?e=mLlBrw) | [√](https://drive.google.com/drive/folders/13b1d9AEltUnWRDJcyqAhQWNj9QaRDJuH?usp=sharing) | 79 | | ground-01 (23.9GB) | [√](https://1drv.ms/u/s!AmSRwVTuK0YFggmypED_MUKEDpfZ?e=VicCqV) | [√](https://1drv.ms/u/s!AmSRwVTuK0YFgSbH3kdf15zaSznb?e=JGzTsJ) | [√](https://1drv.ms/t/s!AmSRwVTuK0YFgRAzpAwjACj_Xyed?e=YfMubP) | [√](https://drive.google.com/drive/folders/13b1d9AEltUnWRDJcyqAhQWNj9QaRDJuH?usp=sharing) | 80 | | ground-02 (27.7GB) | [√](https://1drv.ms/u/s!AmSRwVTuK0YFggp9_HXD1kaKRHQy?e=u8h39O) | [√](https://1drv.ms/u/s!AmSRwVTuK0YFgScOp6scVJAmRNwv?e=GaCmKq) | [√](https://1drv.ms/t/s!AmSRwVTuK0YFgRPUlncQ9tVZfAvN?e=lPRfnN) | [√](https://drive.google.com/drive/folders/13b1d9AEltUnWRDJcyqAhQWNj9QaRDJuH?usp=sharing) | 81 | | ground-03 (21.3GB) | [√](https://1drv.ms/u/s!AmSRwVTuK0YFgguDgDaxleIPkoLF?e=W6n27a) | [√](https://1drv.ms/u/s!AmSRwVTuK0YFgSnWnpUciPZvYpMI?e=M1NvVn) | [√](https://1drv.ms/t/s!AmSRwVTuK0YFgRHqQKruk5DzfDBG?e=iUQt2D) | [√](https://drive.google.com/drive/folders/13b1d9AEltUnWRDJcyqAhQWNj9QaRDJuH?usp=sharing) | 82 | | ground-04 (23.6GB) | [√](https://1drv.ms/u/s!AmSRwVTuK0YFggxkXss3l-uIx076?e=x4aBPH) | [√](https://1drv.ms/u/s!AmSRwVTuK0YFgSuVX-ioN9x2Sbg6?e=Ce7PQY) | [√](https://1drv.ms/t/s!AmSRwVTuK0YFgRKDx5mN_uB78fW-?e=LHuVdc) | [√](https://drive.google.com/drive/folders/13b1d9AEltUnWRDJcyqAhQWNj9QaRDJuH?usp=sharing) | 83 | | ground-05 (37.3GB) | [√](https://1drv.ms/u/s!AmSRwVTuK0YFgg7YjRGkYoNaIx3_?e=9LxGw9) | [√](https://1drv.ms/u/s!AmSRwVTuK0YFgS0G1K0Jfs2uWOxR?e=f1AmpS) | [√](https://1drv.ms/t/s!AmSRwVTuK0YFgRUHAoAm5oiR3UJV?e=mSAdSY) | [√](https://drive.google.com/drive/folders/13b1d9AEltUnWRDJcyqAhQWNj9QaRDJuH?usp=sharing) | 84 | | ground-06 (22.3GB) | [√](https://1drv.ms/u/s!AmSRwVTuK0YFgg2pL96oowwx_7wy?e=L74jFc) | [√](https://1drv.ms/u/s!AmSRwVTuK0YFgS_hGmLnKjyUlFcm?e=s0jg2L) | [√](https://1drv.ms/t/s!AmSRwVTuK0YFgRSzMAfUW2Txe-W2?e=JXKub3) | [√](https://drive.google.com/drive/folders/13b1d9AEltUnWRDJcyqAhQWNj9QaRDJuH?usp=sharing) | 85 | 86 | If the above link does not work, please use the following link: https://1drv.ms/f/c/05462bee54c19164/EmSRwVTuK0YggAVwAAAAAAAB22xjVSAk9NF4Ic2HQKlNzw?e=ZM7uuT 87 | 88 | 89 | 90 | ### 2. Aerial sequence 91 | 92 |
93 | 94 | 95 |
96 | 97 | | Sequence | ROS1 bag | ROS2 bag | Ground truth file | Calibration file | 98 | | :--------------------: | :----------------------------------------------------------: | :----------------------------------------------------------: | :----------------------------------------------------------: | :----------------------------------------------------------: | 99 | | sample-aerial (2.9GB) | [√](https://1drv.ms/u/s!AmSRwVTuK0YFgRZ-lzKh2yDwsLDh?e=Tx8kxg) | - | [√](https://1drv.ms/t/s!AmSRwVTuK0YFgQaRN-KiAJ5ysrK_?e=wx679n) | [√](https://drive.google.com/drive/folders/1rb0_X_XrptNqZRw4EaUC6OSfE3PEeM0_?usp=sharing) | 100 | | aerial-01-40m (29.3GB) | [√](https://1drv.ms/u/s!AmSRwVTuK0YFghGt-5acB5oRN7qe?e=Xqvdtg) | [√](https://1drv.ms/u/s!AmSRwVTuK0YFgTmNGAh-igOfDQ5t?e=HWGAVE) | [√](https://1drv.ms/t/s!AmSRwVTuK0YFgQwSZorj_bv5Esua?e=Cw19Ge) | [√](https://drive.google.com/drive/folders/1rb0_X_XrptNqZRw4EaUC6OSfE3PEeM0_?usp=sharing) | 101 | | aerial-02-20m (19.9GB) | [√](https://1drv.ms/u/s!AmSRwVTuK0YFghCJYBIDKnlbFKJr?e=ru5rLb) | [√](https://1drv.ms/u/s!AmSRwVTuK0YFgTqvW5fF39LTCaoL?e=xHG77y) | [√](https://1drv.ms/t/s!AmSRwVTuK0YFgQe2n125icr3POVJ?e=zCEJMI) | [√](https://drive.google.com/drive/folders/1rb0_X_XrptNqZRw4EaUC6OSfE3PEeM0_?usp=sharing) | 102 | | aerial-03-20m (28.1GB) | [√](https://1drv.ms/u/s!AmSRwVTuK0YFghTdEcXgNHfModwZ) | [√](https://1drv.ms/u/s!AmSRwVTuK0YFgT2UO7g1S7LTTsi9?e=UmQOZC) | [√](https://1drv.ms/t/s!AmSRwVTuK0YFgQkz_SuCwgsgnL8T?e=TXqU39) | [√](https://drive.google.com/drive/folders/1rb0_X_XrptNqZRw4EaUC6OSfE3PEeM0_?usp=sharing) | 103 | | aerial-04-40m (20.9GB) | [√](https://1drv.ms/u/s!AmSRwVTuK0YFghJimpqjSBAQl9da) | [√](https://1drv.ms/u/s!AmSRwVTuK0YFgXYirehex2HP5TGv?e=Vj6RjE) | [√](https://1drv.ms/t/s!AmSRwVTuK0YFgQhpxiJpX_lCaxeO?e=xb4yj5) | [√](https://drive.google.com/drive/folders/1rb0_X_XrptNqZRw4EaUC6OSfE3PEeM0_?usp=sharing) | 104 | | aerial-05-40m (21.3GB) | [√](https://1drv.ms/u/s!AmSRwVTuK0YFghP1t9SleeMZwiUc?e=whL7XA) | [√](https://1drv.ms/u/s!AmSRwVTuK0YFgXcr4Z3-XfuSmhO_?e=bzzNk3) | [√](https://1drv.ms/t/s!AmSRwVTuK0YFgQqEJWHP9E9OdjGq?e=U8PbZR) | [√](https://drive.google.com/drive/folders/1rb0_X_XrptNqZRw4EaUC6OSfE3PEeM0_?usp=sharing) | 105 | | aerial-06-20m (23.6GB) | [√](https://1drv.ms/u/s!AmSRwVTuK0YFghZzfuO9LalmapEZ?e=E2oxAF) | [√](https://1drv.ms/u/s!AmSRwVTuK0YFgXnFWknBk0BkTkpP?e=3WK0Nn) | [√](https://1drv.ms/t/s!AmSRwVTuK0YFgQskW9qZ5dsKrl2E?e=gOqcct) | [√](https://drive.google.com/drive/folders/1rb0_X_XrptNqZRw4EaUC6OSfE3PEeM0_?usp=sharing) | 106 | | aerial-07-25m (28.3GB) | [√](https://1drv.ms/u/s!AmSRwVTuK0YFghd4O5OzmrCwPlBv) | [√](https://1drv.ms/u/s!AmSRwVTuK0YFgXspbVDGNyN-87od?e=GGu46U) | [√](https://1drv.ms/t/s!AmSRwVTuK0YFgQ19nbH5bE1aBafv?e=vzqKGs) | [√](https://drive.google.com/drive/folders/1rb0_X_XrptNqZRw4EaUC6OSfE3PEeM0_?usp=sharing) | 107 | | aerial-08-25m (19.9GB) | [√](https://1drv.ms/u/s!AmSRwVTuK0YFghXEVnlm3vQv15vt) | [√](https://1drv.ms/u/s!AmSRwVTuK0YFgX1V2orIb_M2p0z7?e=MqHXbv) | [√](https://1drv.ms/t/s!AmSRwVTuK0YFgQ6NfsTFMwCv-P16?e=NV7B4y) | [√](https://drive.google.com/drive/folders/1rb0_X_XrptNqZRw4EaUC6OSfE3PEeM0_?usp=sharing) | 108 | 109 | The suffix in the name represents the flight altitude. If the above link does not work, please use the following link: https://1drv.ms/f/c/05462bee54c19164/EmSRwVTuK0YggAV9AAAAAAABtpif_ADvF25CSv5v5RuvVg?e=9S9ixT 110 | -------------------------------------------------------------------------------- /doc/Aerial-platform.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SYSU-RoboticsLab/GrAco/f64f34942ab556976c84c8a09568c72117493697/doc/Aerial-platform.png -------------------------------------------------------------------------------- /doc/GRACO: A Multimodal Dataset for Ground and Aerial Cooperative Localization and Mapping.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SYSU-RoboticsLab/GrAco/f64f34942ab556976c84c8a09568c72117493697/doc/GRACO: A Multimodal Dataset for Ground and Aerial Cooperative Localization and Mapping.pdf -------------------------------------------------------------------------------- /doc/Ground-platform.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SYSU-RoboticsLab/GrAco/f64f34942ab556976c84c8a09568c72117493697/doc/Ground-platform.png -------------------------------------------------------------------------------- /doc/cover-img.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SYSU-RoboticsLab/GrAco/f64f34942ab556976c84c8a09568c72117493697/doc/cover-img.png -------------------------------------------------------------------------------- /doc/duration-length.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SYSU-RoboticsLab/GrAco/f64f34942ab556976c84c8a09568c72117493697/doc/duration-length.png -------------------------------------------------------------------------------- /doc/ros_topics.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SYSU-RoboticsLab/GrAco/f64f34942ab556976c84c8a09568c72117493697/doc/ros_topics.png -------------------------------------------------------------------------------- /doc/sequence-aerial.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SYSU-RoboticsLab/GrAco/f64f34942ab556976c84c8a09568c72117493697/doc/sequence-aerial.png -------------------------------------------------------------------------------- /doc/sequence-ground.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SYSU-RoboticsLab/GrAco/f64f34942ab556976c84c8a09568c72117493697/doc/sequence-ground.png --------------------------------------------------------------------------------