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ROS pointcloud and odometry streams recorded during various scenarios where a robotic ground vehicle approaches negative obstacles. These values were generated by the Wildcat SLAM software based on me... moreasurements by a Velodyne lidar and an IMU. Often negative obstacles cannot be observed directly by a ground vehicle as they are obscured by the upper surface between the vehicle and the obstacle. This data contains examples that can be used to demonstrate methods of indirectly inferring negative obstacles from typical observations made during an approach. Screenshot image previews of the data can be found in the `screenshots` directory. ROS topics are described in the `README.md` file. Models of the simulation worlds have been provided as Blender files in the `worlds` directory.less
DARPA SubT Challenge - Phase 2 & 3 - - Published 21 Jan 2021
This references the open source release of the 3rd Eye Scene code library. 3rd Eye Scene is a visual debugger and debugging aid in the vain of the Robot Operating System (ROS) rviz or physics engine v... moreiewers such as Havok Visual Debugger or PhysX Visual Debugger. Whereas those tools are tightly bound to their respective SDKs, 3rd Eye Scene can be used to remotely visualise and debug any real time or non real time 3D algorithm. Conceptually, it can be thought of as a simple remote rendering application. A 3rd Eye Scene (3es) server may be embedded into any program, then 3es render commands may be interspersed throughout the program. The 3es viewer client application is then used to view, record and playback these render commands.
Legacy data - Debugging - Published 08 Dec 2016