Home

Awesome

M2DGR-plus: Extension and update of M2DGR, a novel Multi-modal and Multi-scenario SLAM Dataset for Ground Robots (ICRA2022 & ICRA2024)

First Author: Jie Yin 殷杰   📝 [Paper]   ➡️ [Algorithm]   🎯 [M2DGR Dataset] ⭐️ [Presentation Video]

<div align=center> <img src="./fig/car2.jpg" width="800px"> </div> <p align="center">Figure 1. Acquisition Platform and Diverse Scenarios.</p>

News & Updates

This dataset is based on M2DGR. And the algorithm code is Ground-Fusion. The preprint version of this paper is arxiv.

1.LICENSE

This work is licensed under MIT license. International License and is provided for academic purpose. If you are interested in our project for commercial purposes, please contact us on 1195391308@qq.com for further communication.

If you use this work in an academic work, please cite:

@article{yin2021m2dgr,
  title={M2dgr: A multi-sensor and multi-scenario slam dataset for ground robots},
  author={Yin, Jie and Li, Ang and Li, Tao and Yu, Wenxian and Zou, Danping},
  journal={IEEE Robotics and Automation Letters},
  volume={7},
  number={2},
  pages={2266--2273},
  year={2021},
  publisher={IEEE}
}

@article{yin2024ground,
  title={Ground-Fusion: A Low-cost Ground SLAM System Robust to Corner Cases},
  author={Yin, Jie and Li, Ang and Xi, Wei and Yu, Wenxian and Zou, Danping},
  journal={arXiv preprint arXiv:2402.14308},
  year={2024}
}

2.SENSOR SETUP

The calibration results are here. All the sensors and track devices and their most important parameters are listed as below:

The rostopics of our rosbag sequences are listed as follows:

/ublox_driver/glo_ephem ,

/ublox_driver/range_meas ,

/ublox_driver/receiver_lla ,

/ublox_driver/receiver_pvt

3.DATASET SEQUENCES

Sequence NameCollection DateTotal SizeDurationFeaturesRosbag
Anomaly2023-81.5g57swheel anomalyRosbag
Switch2023-89.5g292sindoor-outdoor switchRosbag
Tree2023-83.7g160sDense tree leave coverRosbag
Bridge_012022-112.4g75sBridge, ZigzagRosbag
Bridge_022022-1116.0g501sBridge, Long-term,Straight lineRosbag
Street_012022-111.7g58sStreet, Straight lineRosbag
Street_022022-113.9g126sBridge, Sharp turnRosbag
Parking_012022-113.3g105sParking lot, Side movingRosbag
Parking_022022-115.4g149sParking lot, Rectangle loopRosbag
Building_012022-113.7g120sBuilding, Far featuresRosbag
Building_022022-113.4g110sBuilding, Far featuresRosbag
</div>

4. EXPERIMENTAL RESULTS

We test methods with diverse senser settings to validate our benchmark dataset. Results shown that our dataset is a valid and effective testfield for localization methods.

And in some cases, our Ground-Fusion achieves comparable performance to Lidar SLAM!

<div align=center> <img src="./fig/resultf.png" width="800px"> </div> <p align="center">Figure 2. The ATE RMSE (m) result on some sequences.</p> <div align=center> <img src="./fig/result.png" width="800px"> </div> <p align="center">Figure 3. The visualized trajectory.</p>

5. Configuration Files

We provide configuration files for several cutting-edge baseline methods, including VINS-RGBD,TartanVO,VINS-Mono and VIW-Fusion and GVINS.

Star History

Star History Chart