Added labiomep dataset info to readme.

niusha-tw · Sep 9, 2015 · acc0646 · acc0646
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diff --git a/README.md b/README.md
@@ -48,24 +48,24 @@ Figure 2: Pioneer 3-DX robot
 
 ### Guardian platform
 
-The Guardian platform is an autonomous mobile manipulator equipped with a Hokuyo URG-04LX laser in the front and a Hokuyo URG-04LX_UG01 laser in the back (both mounted about 0.37 meters from the ground). The front laser had a tilting platform which allows 3D mapping of the environment. The arm is a SCHUNK Powerball LWA 4P and in Fig. 4 it is attached to a stud welding machine (in simulation it is attached to a video projector). It uses a differential drive locomotion system and can be moved with wheels or with tracks. This platform didn't have a certified ground truth and as such, the results could not be quantified with an external localization system (the results performed with the Gazebo simulator will be presented instead - robot model shown in Fig. 4).
+The Guardian platform is an autonomous mobile manipulator equipped with a Hokuyo URG-04LX laser in the front and a Hokuyo URG-04LX_UG01 laser in the back (both mounted about 0.37 meters from the ground). The front laser had a tilting platform which allows 3D mapping of the environment. The arm is a SCHUNK Powerball LWA 4P and in Fig. 3 it is attached to a stud welding machine (in simulation it is attached to a video projector). It uses a differential drive locomotion system and can be moved with wheels or with tracks. The 6 DoF ground truth for the Labiomep environment was provided by a Qualisys motion tracking system with 12 infrared cameras (tracking reflective markers). The 3 and 6 DoF ground truth for the simulated ship interior was provided by the Gazebo simulator.
 
 ![Guardian robot](docs/robots/guardian.png "Guardian robot")
 
 ```
 Figure 3: Guardian robot
 ```
 
-![Guardian robot Gazebo simulator](docs/robots/guardian-gazebo.png "Guardian robot Gazebo simulator")
+![Guardian robot simulated in Gazebo](docs/robots/guardian-gazebo.png "Guardian robot simulated in Gazebo")
 
 ```
-Figure 4: Guardian robot Gazebo simulator
+Figure 4: Guardian robot simulated in Gazebo
 ```
 
 
 ## Testing environments
 
-The localization system was tested in different environments and used the Jarvis platform in a large room with a RoboCup field, the Pioneer 3-DX in a large industrial hall, the Guardian platform in a simulated indoor environment and a Kinect in a flying arena.
+The localization system was tested in different environments and used the Jarvis platform in a large room with a RoboCup field, the Pioneer 3-DX in a large industrial hall, the Guardian platform in indoor environments and a Kinect in a flying arena.
 
 ### Jarvis in robocup field
 
@@ -86,7 +86,7 @@ Figure 5: Jarvis testing environment
 
 ### Pioneer in industrial hall
 
-The industrial hall is a large room with several tables and objects spread around. Four tests were performed with the Pioneer in this environment. The first was a 360º path with few objects in the middle of the room (shown in Fig. 6), while the remaining 3 were done with a lot of large objects that significantly reduced the field of view of the robot laser (as can be seen in Fig. 7).
+The industrial hall is a large room with several tables and objects spread around. Four tests were performed with the Pioneer in this environment. The first was a 360º path with few objects in the middle of the room (shown in Fig. 6), while the remaining 3 tests were done with a lot of large objects that significantly reduced the field of view of the robot laser (as can be seen in Fig. 7).
 
 The rosbags present in [this folder](datasets/tum) only have laser data, and the [associated launch files](launch/environments/tum/bags) corrected the TF tree and synchronized the ground truth with the laser time stamps.
 
@@ -111,7 +111,7 @@ Figure 7: Industrial hall with objects in the middle
 
 The flying arena shown in Fig. 8 is a large room in which several objects were added to test 6 DoF pose tracking. In these tests the Kinect was moved by the operator in three different paths. The first was a smooth fly movement over the testing scene, while the other two aimed to test paths with mainly translations and rotations. This environment had a ground truth provided by Vicon cameras and according to the [authors of the dataset](http://projects.asl.ethz.ch/datasets/doku.php?id=kinect:iros2011kinect) it had sub-centimeter accuracy.
 
-Launch files available in [this folder](launch/environments/asl/bags) (requires the download of the kinect rosbags from the [ASL datasets webpage](http://projects.asl.ethz.ch/datasets/doku.php?id=kinect:iros2011kinect) and move then to [this folder](datasets/asl/ethzasl_kinect_dataset)).
+Launch files available in [this folder](launch/environments/asl/bags) (requires the download of the kinect rosbags from the [ASL datasets webpage](http://projects.asl.ethz.ch/datasets/doku.php?id=kinect:iros2011kinect) to [this folder](datasets/asl/ethzasl_kinect_dataset)).
 
 Maps available in [this folder](maps/asl/ethzasl_kinect_dataset).
 
@@ -124,9 +124,120 @@ Figure 8: Flying arena environment
 ```
 
 
+### Guardian in Labiomep
+
+The [LABIOMEP environment](http://www.labiomep.up.pt/about/facilities/) is a large room with 10 meters of length and 15 meters of depth equipped with 12 Oqus motion tracking cameras able to achieve sub-centimeter accuracy when tracking reflective markers.
+
+This dataset was made to test internal and external 6 DoF pose tracking of the Guardian platform when climbing a ramp in 3 different environment setups with increasing complexity.
+
+The first environment setup had very few objects close to the robot and aimed to test the robustness of the robot pose tracking systems when using sensor data with high noise.
+
+In the second environment setup it was added several small cones around the ramp in order to test if the robot pose tracking accuracy improved.
+
+In the last environment setup the cones were replaced with a L shaped wall with several vertical supports in order to test the accuracy of the tracking algorithms in a environment with a large amount of planar geometry (similar to a ship interior).
+
+Launch files available in [this folder](launch/environments/labiomep).
+
+Rosbags available in [this folder](https://www.dropbox.com/sh/z6p0j8jeeh30q3x/AAALiWAoUEA6MLxlcyIz4R_3a?dl=0).
+
+Maps available in [this folder](maps/labiomep).
+
+
+Hardware used:
+
+- [Qualisys motion tracking system](http://www.qualisys.com/products/software/qtm/) using [12 Oqus cameras](http://www.qualisys.com/products/hardware/oqus/) (ground truth)
+  * 4 high speed Oqus 310+ cameras with 640x512@1764 fps
+  * 8 high resolution Oqus 400 cameras with 1696×1710@480 fps
+- [Guardian platform](http://www.robotnik.eu/mobile-robots/guardian/)
+  * [Structure IO 3D sensor](http://structure.io/developers)
+  * [Hokuyo URG-04LX front Laser Range Finder](https://www.hokuyo-aut.jp/02sensor/07scanner/urg_04lx.html)
+  * [Hokuyo URG-04LX_UG01 back Laser Range Finder](https://www.hokuyo-aut.jp/02sensor/07scanner/urg_04lx_ug01.html)
+  * [SparkFun 9DOF MPU-915 IMU](https://www.sparkfun.com/products/11486)
+  * [CH Robotics UM7 IMU](https://www.pololu.com/product/2741)
+- External tracking hardware
+  * [2 kinects for Xbox 360](http://www.xbox.com/en-US/xbox-360/accessories/kinect)
+
+
+![Overview of testing environment](docs/environments/labiomep-overview.jpg "Overview of testing environment")
+
+```
+Figure 9: Overview of testing environment
+```
+
+
+![First testing environment with only the ramp](docs/environments/labiomep-ramp-only.png "First testing environment with only the ramp")
+
+```
+Figure 10: First testing environment with only the ramp
+```
+
+
+![Second testing environment with cones around the ramp](docs/environments/labiomep-cones.jpg "Second testing environment with cones around the ramp")
+
+```
+Figure 11: Second testing environment with cones around the ramp
+```
+
+
+![Second testing environment with robot climbing the ramp](docs/environments/labiomep-cones-robot.png "Second testing environment with robot climbing the ramp")
+
+```
+Figure 12: Second testing environment with robot climbing the ramp
+```
+
+
+![Third testing environment with ship interior walls](docs/environments/labiomep-walls-kinects.png "Third testing environment with ship interior walls")
+
+```
+Figure 13: Third testing environment with ship interior walls
+```
+
+
+![Third testing environment with robot climbing the ramp](docs/environments/labiomep-ramp.jpg "Third testing environment with robot climbing the ramp")
+
+```
+Figure 14: Third testing environment with robot climbing the ramp
+```
+
+
+![Mapping of the third testing environment with the Kinect](docs/environments/labiomep-walls-mapping.jpg "Mapping of the third testing environment with the Kinect")
+
+```
+Figure 15: Mapping of the third testing environment with the Kinect
+```
+
+
+![Front view of the Guardian robot](docs/environments/labiomep-robot-front.jpg "Front view of the Guardian robot")
+
+```
+Figure 16: Front view of the Guardian robot
+```
+
+
+![Back view of the Guardian robot](docs/environments/labiomep-robot-back.jpg "Back view of the Guardian robot")
+
+```
+Figure 17: Back view of the Guardian robot
+```
+
+
+![1 of the 4 Oqus 310+ cameras in LABIOMEP](docs/environments/labiomep-oqus-310+.png "1 of the 4 Oqus 310+ cameras in LABIOMEP")
+
+```
+Figure 18: 1 of the 4 Oqus 310+ cameras in LABIOMEP
+```
+
+
+![1 of the 8 Oqus 400 cameras in LABIOMEP](docs/environments/labiomep-oqus-400.png "1 of the 8 Oqus 400 cameras in LABIOMEP")
+
+```
+Figure 19: 1 of the 8 Oqus 400 cameras in LABIOMEP
+```
+
+
 ### Guardian in ship interior
 
-The structured environment simulated in Gazebo is a large room with 12.4 meters of length and 8.4 meters of depth. It has 4 doors, several small windows and the walls have small ledges at regular intervals (as can be seen in FIg. 9).
+The structured environment simulated in Gazebo is a large room with 12.4 meters of length and 8.4 meters of depth. It has 4 doors, several small windows and the walls have small ledges at regular intervals (as can be seen in Fig. 20).
 Given that the Guardian mobile manipulator is expected to work on the walls of this environment, several tests were devised with a path following the lower and right wall of the environment. The first test was done in a static environment clear of unknown objects and was meant to evaluate the best precision that the localization system could achieve. The second test was done in a cluttered environment and was designed to test the robustness of the localization system against static unknown objects, that were placed in the middle of the environment and close to the walls (to block sensor data from reaching known positions and analyze the robustness of matching unknown points that are close to known areas). The last test added a moving car to the scene and aimed to assess the impact of dynamic objects on the point cloud registration algorithms.
 
 Launch files available in [this folder](launch/environments/ship_interior).
@@ -138,7 +249,7 @@ Maps available in [this folder](maps/ship_interior).
 ![Guardian testing environment](docs/environments/guardian-environment-cluttered_dynamic.png "Guardian testing environment")
 
 ```
-Figure 9: Guardian testing environment
+Figure 20: Guardian testing environment
 ```
 
 
@@ -157,8 +268,9 @@ Figure 9: Guardian testing environment
 
 ## More info
 
-* [ICIT 2015 paper](https://www.dropbox.com/sh/yizj93xtvsapl9e/AABdCPKrMX2V58vzpzECKiExa?dl=0)
 * [Results folder](https://www.dropbox.com/sh/nwb6gezj2dan187/AABM2u4BGd12lN__nYFwSktLa?dl=0)
 * [Dissertation webpage](http://carlosmccosta.wix.com/personal-webpage#!dissertation/c12dl)
-* [Dissertation abstract](http://1drv.ms/1odZRYO)
+* [Dissertation pdf](https://www.researchgate.net/publication/277752192_Robot_Self-Localization_in_Dynamic_Environments)
+* [Dissertation abstracts](https://github.com/carlosmccosta/dynamic_robot_localization_dissertation_abstracts)
+* [ICIT 2015 paper](https://www.researchgate.net/publication/275958401_Robust_and_Accurate_Localization_System_for_Mobile_Manipulators_in_Cluttered_Environments)
 * [Research](http://1drv.ms/1l8yGei)
diff --git a/datasets/labiomep/README.md b/datasets/labiomep/README.md
@@ -0,0 +1,4 @@
+Labiomep dataset
+================================
+
+Rosbags available in [this folder](https://www.dropbox.com/sh/z6p0j8jeeh30q3x/AAALiWAoUEA6MLxlcyIz4R_3a?dl=0).
diff --git a/docs/environments/labiomep-cones-2.jpg b/docs/environments/labiomep-cones-2.jpg
diff --git a/docs/environments/labiomep-cones-robot.png b/docs/environments/labiomep-cones-robot.png
diff --git a/docs/environments/labiomep-cones.jpg b/docs/environments/labiomep-cones.jpg
diff --git a/docs/environments/labiomep-oqus-310+.png b/docs/environments/labiomep-oqus-310+.png
diff --git a/docs/environments/labiomep-oqus-400.png b/docs/environments/labiomep-oqus-400.png
diff --git a/docs/environments/labiomep-overview.jpg b/docs/environments/labiomep-overview.jpg
diff --git a/docs/environments/labiomep-ramp-only.png b/docs/environments/labiomep-ramp-only.png
diff --git a/docs/environments/labiomep-ramp.jpg b/docs/environments/labiomep-ramp.jpg
diff --git a/docs/environments/labiomep-robot-back.jpg b/docs/environments/labiomep-robot-back.jpg
diff --git a/docs/environments/labiomep-robot-front.jpg b/docs/environments/labiomep-robot-front.jpg
diff --git a/docs/environments/labiomep-walls-kinects.png b/docs/environments/labiomep-walls-kinects.png
diff --git a/docs/environments/labiomep-walls-mapping.jpg b/docs/environments/labiomep-walls-mapping.jpg