Print Email Facebook Twitter A Novel Obstacle Detection and Avoidance Dataset for Drones Title A Novel Obstacle Detection and Avoidance Dataset for Drones Author Dupeyroux, J.J.G. (TU Delft Control & Simulation) Dinaux, Raoul (Student TU Delft) Wessendorp, Nikhil (Student TU Delft) de Croon, G.C.H.E. (TU Delft Control & Simulation) Date 2022 Abstract In this paper, we introduce the Obstacle Detection and Avoidance (ODA) Dataset for Drones, aiming at providing raw data obtained in a real indoor environment with sensors adapted for aerial robotics in the context of obstacle detection and avoidance. Our micro air vehicle (MAV) is equipped with the following sensors: (i) an event-based camera, the performance of which makes it optimized for drone applications; (ii) a standard RGB camera; (iii) a 24-GHz radar sensor to enhance multi-sensory solutions; and (iv) a 6-Axes IMU. The ground truth position and attitude are provided by an OptiTrack motion capture system. The resulting dataset consists of more than 1350 sequences obtained in four distinct conditions (one or two obstacles, full or dim light). It is intended for benchmarking algorithmic and neural solutions for obstacle detection and avoidance with UAVs, but also course estimation and in general autonomous navigation. The dataset is available at: https://github.com/tudelft/ODA_Dataset [6]. Subject CameraEvent-based CameraMicro Air Vehicles (MAVs)Neuromorphic VisionRadarRobot Operating System (ROS)Unmanned Aerial Vehicles (UAVs) To reference this document use: http://resolver.tudelft.nl/uuid:e2f12fc1-07bf-4209-9898-19fcf3163261 DOI https://doi.org/10.1145/3522784.3522786 Publisher Association for Computing Machinery (ACM) ISBN 9781450395663 Source Proceedings of System Engineering for Constrained Embedded Systems - DroneSE: Drone Systems Engineering - RAPIDO: Rapid Simulation and Performance Evaluation: Methods and Tools, HiPEAC Conference Event 2022 Workshop on System Engineering for Constrained Embedded Systems - Drone Systems Engineering and Rapid Simulation and Performance Evaluation: Methods and Tools, DroneSE and RAPIDO 2022 - Presented at HiPEAC 2022 Conference, 2022-06-20 → 2022-06-22, Budapest, Hungary Series ACM International Conference Proceeding Series Part of collection Institutional Repository Document type conference paper Rights © 2022 J.J.G. Dupeyroux, Raoul Dinaux, Nikhil Wessendorp, G.C.H.E. de Croon Files PDF 3522784.3522786.pdf 3.12 MB Close viewer /islandora/object/uuid:e2f12fc1-07bf-4209-9898-19fcf3163261/datastream/OBJ/view