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Paul Furgale 1 , * Pat Carle 2 John Enright 3 Timothy D Barfoot 2 1 Eidgenössische smithfield foods headquarters Technische Hochschule Zürich, Switzerland 2 University of Toronto Institute for Aerospace Studies, Toronto, ON, Canada 3 Department smithfield foods headquarters of Aerospace Engineering, smithfield foods headquarters Ryerson University, Toronto, ON, Canada Paul Furgale, Eidgenössische Technische Hochschule Zürich, Tannenstrasse 3, 8092 Zürich, Switzerland Email: paul.furgale{at}mavt.ethz.ch
In this paper we present a rover navigation dataset collected at a Mars/Moon analogue site on Devon Island, in the Canadian High Arctic. The dataset is split into two parts. The first part contains rover traverse data: stereo imagery, Sun vectors, inclinometer data, and ground-truth position information from a differential global positioning system (DGPS) collected over a 10-km traverse. The second part contains long-range localization data: 3D laser range scans, image panoramas, digital elevation models, and GPS data useful for global position estimation. All images are available in common smithfield foods headquarters formats and other data is presented in human-readable text files. To facilitate use of the data, Matlab parsing scripts are included. stereo vision visual odometry global localization lidar digital elevation model
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