MCD: Diverse Large-Scale Multi-Campus Dataset for Robot Perception

• URL: http://arxiv.org/abs/2403.11496v1
• Date: Mon, 18 Mar 2024 06:00:38 GMT
• Title: MCD: Diverse Large-Scale Multi-Campus Dataset for Robot Perception
• Authors: Thien-Minh Nguyen, Shenghai Yuan, Thien Hoang Nguyen, Pengyu Yin, Haozhi Cao, Lihua Xie, Maciej Wozniak, Patric Jensfelt, Marko Thiel, Justin Ziegenbein, Noel Blunder,
• Abstract summary: We introduce a comprehensive dataset named MCD, featuring a wide range of sensing modalities, high-accuracy ground truth, and diverse challenging environments. MCD comprises both CCS (Classical Cylindrical Spinning) and NRE (Non-Repetitive Epicyclic) lidars, high-quality IMUs (Inertial Measurement Units), cameras, and UWB (Ultra-WideBand) sensors. In a pioneering effort, we introduce semantic annotations of 29 classes over 59k sparse NRE lidar scans across three domains, thus providing a novel challenge to existing semantic segmentation research.
• Score: 24.67682960590225
• License: http://creativecommons.org/licenses/by-nc-nd/4.0/
• Abstract: Perception plays a crucial role in various robot applications. However, existing well-annotated datasets are biased towards autonomous driving scenarios, while unlabelled SLAM datasets are quickly over-fitted, and often lack environment and domain variations. To expand the frontier of these fields, we introduce a comprehensive dataset named MCD (Multi-Campus Dataset), featuring a wide range of sensing modalities, high-accuracy ground truth, and diverse challenging environments across three Eurasian university campuses. MCD comprises both CCS (Classical Cylindrical Spinning) and NRE (Non-Repetitive Epicyclic) lidars, high-quality IMUs (Inertial Measurement Units), cameras, and UWB (Ultra-WideBand) sensors. Furthermore, in a pioneering effort, we introduce semantic annotations of 29 classes over 59k sparse NRE lidar scans across three domains, thus providing a novel challenge to existing semantic segmentation research upon this largely unexplored lidar modality. Finally, we propose, for the first time to the best of our knowledge, continuous-time ground truth based on optimization-based registration of lidar-inertial data on large survey-grade prior maps, which are also publicly released, each several times the size of existing ones. We conduct a rigorous evaluation of numerous state-of-the-art algorithms on MCD, report their performance, and highlight the challenges awaiting solutions from the research community.

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