A 2D laser rangefinder scans dataset of standard EUR pallets
In the past few years, the technology of automated guided vehicles (AGVs) has notably advanced. In particular, in the context of factory and warehouse automation, different approaches have been presented for detecting and localizing pallets inside warehouses and shop-floor environments. In a related research paper [1], we show that an AGVs can detect, localize, and track pallets using machine learning techniques based only on the data of an on-board 2D laser rangefinder. Such sensor is very common in industrial scenarios due to its simplicity and robustness, but it can only provide a limited amount of data. Therefore, it has been neglected in the past in favor of more complex solutions. In this paper, we release to the community the data we collected in [1] for further research activities in the field of pallet localization and tracking. The dataset comprises a collection of 565 2D scans from real-world environments, which are divided into 340 samples where pallets are present, and 225 samples where they are not. The data have been manually labelled and are provided in different formats.
Code (1)
Similar Papers 제목 키워드 기반
Detection, localisation and tracking of pallets using machine learning techniques and 2D range data
The problem of autonomous transportation in industrial scenarios is receiving a renewed interest due to the way it can revolutionise internal logistics, especially in unstructured environments. This paper presents a nove…
BIG-bench Machine LearningA Novel Method for the Extrinsic Calibration of a 2D Laser Rangefinder and a Camera
We present a novel method for extrinsically calibrating a camera and a 2D Laser Rangefinder (LRF) whose beams are invisible from the camera image. We show that point-to-plane constraints from a single observation of a V-…
3D Scan Registration using Curvelet Features in Planetary Environments
Topographic mapping in planetary environments relies on accurate 3D scan registration methods. However, most global registration algorithms relying on features such as FPFH and Harris-3D show poor alignment accuracy in t…
Complete Scene Reconstruction by Merging Images and Laser Scans
Image based modeling and laser scanning are two commonly used approaches in large-scale architectural scene reconstruction nowadays. In order to generate a complete scene reconstruction, an effective way is to completely…
GFIE: A Dataset and Baseline for Gaze-Following From 2D to 3D in Indoor Environments
Gaze-following is a kind of research that requires locating where the person in the scene is looking automatically under the topic of gaze estimation. It is an important clue for understanding human intention, such a…
Gaze Estimation