ALICE
The basis platform is a drive-by-wire capable Liebherr R924 track excavator with a custom sensor setup as depicted below. The hardware details of additional perception sensors are as follows:
- 3x Ouster OS1-64 Laserscanner (left, right, back)
- 1x Ouster OS1-128 Laserscanner (boom)
- Stereo Camera Jai FS-3200D-10GE (RGB+NIR channels)
- SBG Ekinox D
- 4x RGB Surround cameras Alvium G1-240C
The Laserscanners and cameras are synchronized using PTP.
Processed Data
The bagfiles containing labeled data will have the following topics:
| Topic | Type | Framerate |
|---|---|---|
| /ekinox/geo_pose | geographic_msgs/GeoPoseStamped | 200 hz |
| /ekinox/imu | sensor_msgs/Imu | 200 hz |
| /localization/odometry | nav_msgs/Odometry | 100 hz |
| /pcl_merging/merged_cloud | sensor_msgs/PointCloud2 | 10 hz |
| /pcl_merging/labeled_cloud | sensor_msgs/PointCloud2 | |
| /stero_camera/left/vis/camera_info | sensor_msgs/CameraInfo | 5 hz |
| /stereo_camera/left/vis/image_color | sensor_msgs/Image | 5 hz |
| /stereo_camera/left/nir/image_raw | sensor_msgs/Image | 5 hz |
| /stereo_camera/left/vis/image_labeled | sensor_msgs/Image | |
| /stereo_camera/right/vis/camera_info | sensor_msgs/CameraInfo | 5 hz |
| /stereo_camera/right/vis/image_color | sensor_msgs/Image | 5 hz |
| /stereo_camera/right/nir/image_raw | sensor_msgs/Image | 5 hz |
| /stereo_camera/right/vis/image_labeled | sensor_msgs/Image | |
| /tf | tf2_msgs/TFMessage | |
| /tf_static | tf2_msgs/TFMessage |
TF
Here is a TF-tree generated with tf_tools to get an impression of the platform.
Calibration
Extrinsic calibration between camera and laserscanner has been performed and can be read via the static transforms provided by TF. It might change slightly during different recordings, as we recalibrated the system on a regular basis. Intrinsic calibration are published via camera_info topics. We also provide them here in standard OpenCV format.