M. Trzeciak, K. Pluta, Yasmin Fathy, Lucio Alcalde, Stanley Chee, Antony Bromley, I. Brilakis, P. Alliez
{"title":"ConSLAM: SLAM的建设数据集","authors":"M. Trzeciak, K. Pluta, Yasmin Fathy, Lucio Alcalde, Stanley Chee, Antony Bromley, I. Brilakis, P. Alliez","doi":"10.1061/jccee5.cpeng-5212","DOIUrl":null,"url":null,"abstract":"12 This paper presents a dataset collected periodically on a construction site. The dataset 13 aims to evaluate the performance of SLAM algorithms used by mobile scanners or au-14 tonomous robots. It includes ground-truth scans of a construction site collected using a ter-15 restrial laser scanner along with five sequences of spatially registered and time-synchronized 16 images, LiDAR scans and inertial data coming from our prototypical hand-held scanner. We 17 also recover the ground-truth trajectory of the mobile scanner by registering the sequential 18 LiDAR scans to the ground-truth scans and show how to use a popular software package 19 to measure the accuracy of SLAM algorithms against our trajectory automatically. To the 20 best of our knowledge, this is the first publicly accessible dataset consisting of periodically 21 collected sequential data on a construction site. 22","PeriodicalId":50221,"journal":{"name":"Journal of Computing in Civil Engineering","volume":"38 1","pages":""},"PeriodicalIF":4.7000,"publicationDate":"2023-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":"{\"title\":\"ConSLAM: Construction Data Set for SLAM\",\"authors\":\"M. Trzeciak, K. Pluta, Yasmin Fathy, Lucio Alcalde, Stanley Chee, Antony Bromley, I. Brilakis, P. Alliez\",\"doi\":\"10.1061/jccee5.cpeng-5212\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"12 This paper presents a dataset collected periodically on a construction site. The dataset 13 aims to evaluate the performance of SLAM algorithms used by mobile scanners or au-14 tonomous robots. It includes ground-truth scans of a construction site collected using a ter-15 restrial laser scanner along with five sequences of spatially registered and time-synchronized 16 images, LiDAR scans and inertial data coming from our prototypical hand-held scanner. We 17 also recover the ground-truth trajectory of the mobile scanner by registering the sequential 18 LiDAR scans to the ground-truth scans and show how to use a popular software package 19 to measure the accuracy of SLAM algorithms against our trajectory automatically. To the 20 best of our knowledge, this is the first publicly accessible dataset consisting of periodically 21 collected sequential data on a construction site. 22\",\"PeriodicalId\":50221,\"journal\":{\"name\":\"Journal of Computing in Civil Engineering\",\"volume\":\"38 1\",\"pages\":\"\"},\"PeriodicalIF\":4.7000,\"publicationDate\":\"2023-05-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"2\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Journal of Computing in Civil Engineering\",\"FirstCategoryId\":\"5\",\"ListUrlMain\":\"https://doi.org/10.1061/jccee5.cpeng-5212\",\"RegionNum\":2,\"RegionCategory\":\"工程技术\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q1\",\"JCRName\":\"COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Computing in Civil Engineering","FirstCategoryId":"5","ListUrlMain":"https://doi.org/10.1061/jccee5.cpeng-5212","RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS","Score":null,"Total":0}
12 This paper presents a dataset collected periodically on a construction site. The dataset 13 aims to evaluate the performance of SLAM algorithms used by mobile scanners or au-14 tonomous robots. It includes ground-truth scans of a construction site collected using a ter-15 restrial laser scanner along with five sequences of spatially registered and time-synchronized 16 images, LiDAR scans and inertial data coming from our prototypical hand-held scanner. We 17 also recover the ground-truth trajectory of the mobile scanner by registering the sequential 18 LiDAR scans to the ground-truth scans and show how to use a popular software package 19 to measure the accuracy of SLAM algorithms against our trajectory automatically. To the 20 best of our knowledge, this is the first publicly accessible dataset consisting of periodically 21 collected sequential data on a construction site. 22
期刊介绍：
The Journal of Computing in Civil Engineering serves as a resource to researchers, practitioners, and students on advances and innovative ideas in computing as applicable to the engineering profession. Many such ideas emerge from recent developments in computer science, information science, computer engineering, knowledge engineering, and other technical fields. Some examples are innovations in artificial intelligence, parallel processing, distributed computing, graphics and imaging, and information technology. The journal publishes research, implementation, and applications in cross-disciplinary areas including software, such as new programming languages, database-management systems, computer-aided design systems, and expert systems; hardware for robotics, bar coding, remote sensing, data mining, and knowledge acquisition; and strategic issues such as the management of computing resources, implementation strategies, and organizational impacts.
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