AAU_Multi_Agent_UVDAR_Dataset ## Introduction The aim of the dataset is to collect relative position measurements (with the origin in the body of the vehicle) between a set of UAVs with precise groundtruthing through a motion capture system for evaluations. This dataset was recorded in the [Dronehall](https://www.aau.at/en/research/research-profile/the-drone-hall-at-the-university-of-klagenfurt/) of the University Klagenfurt, with three autonomous [F450](https://github.com/ctu-mrs/mrs_uav_system?tab=readme-ov-file#unmanned-aerial-vehicles) unmanned aerial vehicles (UAVs) from [Multi-robot Systems (MRS) group](http://mrs.felk.cvut.cz/) of the [Czech Technical University in Prague](https://www.cvut.cz/en). The UAVs were equipped with the [UVDAR system](https://github.com/ctu-mrs/uvdar_core), a planar scanning LIDAR sensor (RPLIDAR A3), a laser range finder (Garmin LidarLite V3) and a Pixhawk 6C flight controller.The UVDAR system is a visual mutual relative localization (position and orientation) system for cooperating micro-scale UAVs based on ultraviolet-sensitive cameras and blinking ultraviolet markers.Note: the UVDAR system was configured to provide relative position information only, thus the estimated orientation is wrong and set to identity! To assess the measurements obtained from the UVDAR system, a [relative pose evaluation python package] was implemented. To evaluate the measurments recorded, execute the [eval.sh](./tools/eval.sh) script in the tools folder, which creates a folder `eval` in the root of that directory with various plots and statistics for each sequence listed below. Note that the package needs to be installed first, see below. A hybrid dataset with a synthetic Gaussian measurement noise for the UVDAR measurement can be generated with the [add_noise.sh](./tools/add_noise.sh) script. Each sequence contains the recored bag file in the root, the ground truth pose of the UAVs in a CSV file, and image of the 3D trajectory and a subfolder `real` (orientation measurements set to identity) and `hybrid` (syntehthic UVDAR measurmeents with a standard deviation of 0.2m for the position and 0.2 rad for the orientation). Different synthetic datasets can be generated on demand. ## Setup ```pip install --upgrade cnspy-relative-pose-evaluation``` ## Sequences ## Contained topics: ```topics: /tf 300628 msgs : tf2_msgs/TFMessage /tf_static 24 msgs : tf2_msgs/TFMessage /uav10/data_handler/uvdar_fcu 321 msgs : mrs_msgs/PoseWithCovarianceArrayStamped /uav10/hector_mapping/slam_out_pose 1692 msgs : geometry_msgs/PoseStamped /uav10/hw_api/distance_sensor 11189 msgs : sensor_msgs/Range /uav10/hw_api/status 26451 msgs : mrs_msgs/HwApiStatus /uav10/mavros/distance_sensor/garmin 11188 msgs : sensor_msgs/Range /uav10/mavros/extended_state 132 msgs : mavros_msgs/ExtendedState /uav10/mavros/imu/data 13200 msgs : sensor_msgs/Imu /uav10/mavros/imu/data_raw 13198 msgs : sensor_msgs/Imu /uav10/mavros/imu/mag 11472 msgs : sensor_msgs/MagneticField /uav10/mavros/imu/static_pressure 2452 msgs : sensor_msgs/FluidPressure /uav10/mavros/imu/temperature_imu 2452 msgs : sensor_msgs/Temperature /uav10/mavros/state 13198 msgs : mavros_msgs/State /uav10/mrs_uav_status/uav_status 132 msgs : mrs_msgs/UavStatus /uav10/mrs_uav_status/uav_status_short 1188 msgs : mrs_msgs/UavStatusShort /uav10/rplidar/scan_raw 1697 msgs : sensor_msgs/LaserScan /uav10/uvdar/measuredPosesL 170 msgs : mrs_msgs/PoseWithCovarianceArrayStamped /uav10/uvdar/measuredPosesR 245 msgs : mrs_msgs/PoseWithCovarianceArrayStamped /uav10/vrpn_client/estimated_odometry 7252 msgs : nav_msgs/Odometry /uav10/vrpn_client/estimated_transform 7252 msgs : geometry_msgs/TransformStamped /uav10/vrpn_client/raw_pose 7252 msgs : geometry_msgs/PoseStamped /uav10/vrpn_client/raw_transform 7252 msgs : geometry_msgs/TransformStamped /uav11/data_handler/uvdar_fcu 466 msgs : mrs_msgs/PoseWithCovarianceArrayStamped /uav11/hector_mapping/slam_out_pose 1662 msgs : geometry_msgs/PoseStamped /uav11/hw_api/distance_sensor 11167 msgs : sensor_msgs/Range /uav11/hw_api/status 26409 msgs : mrs_msgs/HwApiStatus /uav11/mavros/distance_sensor/garmin 11170 msgs : sensor_msgs/Range /uav11/mavros/extended_state 132 msgs : mavros_msgs/ExtendedState /uav11/mavros/imu/data 13183 msgs : sensor_msgs/Imu /uav11/mavros/imu/data_raw 13184 msgs : sensor_msgs/Imu /uav11/mavros/imu/mag 11422 msgs : sensor_msgs/MagneticField /uav11/mavros/imu/static_pressure 2452 msgs : sensor_msgs/FluidPressure /uav11/mavros/imu/temperature_imu 2452 msgs : sensor_msgs/Temperature /uav11/mavros/state 13184 msgs : mavros_msgs/State /uav11/mrs_uav_status/uav_status 132 msgs : mrs_msgs/UavStatus /uav11/mrs_uav_status/uav_status_short 1187 msgs : mrs_msgs/UavStatusShort /uav11/rplidar/scan_raw 1665 msgs : sensor_msgs/LaserScan /uav11/uvdar/measuredPosesL 388 msgs : mrs_msgs/PoseWithCovarianceArrayStamped /uav11/uvdar/measuredPosesR 339 msgs : mrs_msgs/PoseWithCovarianceArrayStamped /uav11/vrpn_client/estimated_odometry 15840 msgs : nav_msgs/Odometry /uav11/vrpn_client/estimated_transform 15840 msgs : geometry_msgs/TransformStamped /uav11/vrpn_client/raw_pose 15840 msgs : geometry_msgs/PoseStamped /uav11/vrpn_client/raw_transform 15840 msgs : geometry_msgs/TransformStamped /uav12/data_handler/uvdar_fcu 2743 msgs : mrs_msgs/PoseWithCovarianceArrayStamped /uav12/hector_mapping/slam_out_pose 1591 msgs : geometry_msgs/PoseStamped /uav12/hw_api/distance_sensor 11104 msgs : sensor_msgs/Range /uav12/hw_api/status 26236 msgs : mrs_msgs/HwApiStatus /uav12/mavros/distance_sensor/garmin 11108 msgs : sensor_msgs/Range /uav12/mavros/extended_state 131 msgs : mavros_msgs/ExtendedState /uav12/mavros/imu/data 13097 msgs : sensor_msgs/Imu /uav12/mavros/imu/data_raw 13097 msgs : sensor_msgs/Imu /uav12/mavros/imu/mag 11347 msgs : sensor_msgs/MagneticField /uav12/mavros/imu/static_pressure 2441 msgs : sensor_msgs/FluidPressure /uav12/mavros/imu/temperature_imu 2441 msgs : sensor_msgs/Temperature /uav12/mavros/state 13099 msgs : mavros_msgs/State /uav12/mrs_uav_status/uav_status 131 msgs : mrs_msgs/UavStatus /uav12/mrs_uav_status/uav_status_short 1179 msgs : mrs_msgs/UavStatusShort /uav12/rplidar/scan_raw 1595 msgs : sensor_msgs/LaserScan /uav12/uvdar/measuredPosesL 2121 msgs : mrs_msgs/PoseWithCovarianceArrayStamped /uav12/uvdar/measuredPosesR 2151 msgs : mrs_msgs/PoseWithCovarianceArrayStamped /uav12/vrpn_client/estimated_odometry 5808 msgs : nav_msgs/Odometry /uav12/vrpn_client/estimated_transform 5809 msgs : geometry_msgs/TransformStamped /uav12/vrpn_client/raw_pose 5809 msgs : geometry_msgs/PoseStamped /uav12/vrpn_client/raw_transform 5806 msgs : geometry_msgs/TransformStamped types: geometry_msgs/PoseStamped [d3812c3cbc69362b77dc0b19b345f8f5] geometry_msgs/TransformStamped [b5764a33bfeb3588febc2682852579b0] mavros_msgs/ExtendedState [ae780b1800fe17b917369d21b90058bd] mavros_msgs/State [65cd0a9fff993b062b91e354554ec7e9] mrs_msgs/HwApiStatus [8161228afbd5dfe19fab9500c96bba39] mrs_msgs/PoseWithCovarianceArrayStamped [3dc32bc5b82667712bb3f8fdf00477a4] mrs_msgs/UavStatus [91f20f62a88b2befe33c455c114fee1e] mrs_msgs/UavStatusShort [799c7489ad9979eb43be3571ef53b456] nav_msgs/Odometry [cd5e73d190d741a2f92e81eda573aca7] sensor_msgs/FluidPressure [804dc5cea1c5306d6a2eb80b9833befe] sensor_msgs/Imu [6a62c6daae103f4ff57a132d6f95cec2] sensor_msgs/LaserScan [90c7ef2dc6895d81024acba2ac42f369] sensor_msgs/MagneticField [2f3b0b43eed0c9501de0fa3ff89a45aa] sensor_msgs/Range [c005c34273dc426c67a020a87bc24148] sensor_msgs/Temperature [ff71b307acdbe7c871a5a6d7ed359100] tf2_msgs/TFMessage [94810edda583a504dfda3829e70d7eec]``` ## Credit This code was written by the maintainer with the [Control of Networked System (CNS)](https://www.aau.at/en/smart-systems-technologies/control-of-networked-systems/), University of Klagenfurt, Klagenfurt, Austria.The dataset was recorded in collaboration with the [Multi-robot Systems (MRS) group](http://mrs.felk.cvut.cz/) of the [Czech Technical University in Prague](https://www.cvut.cz/en). * [Roland Jung](https://www.aau.at/team/jung-roland/)* [Jiří Horyna ](https://mrs.fel.cvut.cz/members/phdstudents/jiri-horyna)* [Martin Saska](https://mrs.fel.cvut.cz/members/martin-saska)* [Stephan Weiss](https://www.aau.at/team/weiss-stephan-michael/) ## License This software is made available to the public to use (_source-available_), licensed under the terms of the BSD-2-Clause-License with no commercial use allowed, the full terms of which are made available in the `LICENSE` file. No license in patents is granted. Usage for academic purposes If you use this software in an academic research setting, please cite thecorresponding [academic paper] and consult the `LICENSE` file for a detailed explanation. ```latex@inproceedings{jung_uvdarbdataset_2024, author = {Roland Jung, Jiri Horyna, Martin Saska, and Stephan Weiss}, journal = {tbd}, doi = {tbd}, title = {tbd}, year = {2024},}```