BASEPROD:巴尔德纳斯半沙漠行星探测器数据集
Levin Gerdes1,2, Tim Wiese3, Raúl Castilla Arquillo4
1Space Robotics Lab, Department of Systems Engineering and Automation, University of Málaga, Malaga, Spain. gerdes@uma.es.
Scientific data
|September 27, 2024
概括
这个数据集捕获了火星探测器从半沙漠穿越的传感器数据,这对于开发和验证机器人探索技术至关重要,例如在具有挑战性的地形上定位和导航.
科学领域:
- 行星科学 行星科学
- 机器人技术 机器人技术 机器人技术
- 地质科学是地球科学.
背景情况:
- 机器人行星探索需要专门的数据集来开发方法.
- 现有的数据集可能不能完全代表地外环境的复杂性.
研究的目的:
- 为推进机器人感知,定位和导航提供一个新的数据集.
- 支持指导,导航和控制 (GNC) 系统的评估和验证.
主要方法:
- 在巴尔德纳斯半沙漠1.7公里的穿越过程中获取的探测器传感器数据 (光学,热,惯性,力-扭矩).
- 生成了测试地形的高分辨率3D地图.
- 收集了岩石样本的激光诱导分解光谱 (LIBS) 数据和当地天气数据.
主要成果:
- 获得了一个综合数据集,结合了科学和工程仪器数据.
- 该数据集包括来自热摄像头和力-扭矩传感器的独特传感器数据.
- 这些数据有助于在非结构化的行星模拟环境中对GNC的研究.
结论:
- 这一数据集为推进自主机器人探索提供了宝贵的资源.
- 包括各种传感器数据,使得深入分析探测器的性能.
- 它作为测试新型算法在现实的火星类似条件的基准.
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