CoPeD - Advancing Multi-Robot Collaborative Perception: A Comprehensive Dataset in Real-World Environments

Data Link

Google Drive Link to Dataset

Description

CoPeD is a multi-robot collaborative perception dataset that contains indoor/outdoor sequence collected by multiple air/ground robots. This dataset features a variety of sensors including stereo RGB cameras, infrared cameras, IMUs, GPS, and LiDARs. The dataset is collected in real-world environments with various lighting conditions and weather conditions.

Specifications of Ground/Aerial Robot ROS Sensor Messages

Ground Robot

Topic Name	Message Type	Message Rate	Description
/forward/color/image_rect_color/compressed	sensor_msgs/CompressedImage	30 Hz	RGB image
/forward/infra1/image_rect_raw/compressed	sensor_msgs/CompressedImage	30 Hz	Left IR image
/forward/infra2/image_rect_raw/compressed	sensor_msgs/CompressedImage	30 Hz	Right IR image
/imu/data	sensor_msgs/Imu	125 Hz	IMU data
/stereo_left/image_rect_color/compressed	sensor_msgs/CompressedImage	30 Hz	Left RGB image
/stereo_right/image_rect_color/compressed	sensor_msgs/CompressedImage	30 Hz	Right RGB image
/gps	sensor_msgs/NavSatFix	1 Hz	GPS data
/lidar_points	sensor_msgs/PointCloud2	10 Hz	Point cloud data

Aerial Robot

Topic Name	Message Type	Message Rate	Description
/cam1/color/image_raw/compressed	sensor_msgs/CompressedImage	30 Hz	RGB image
/cam1/infra1/image_rect_raw/compressed	sensor_msgs/CompressedImage	30 Hz	Left IR image
/cam1/infra2/image_rect_raw/compressed	sensor_msgs/CompressedImage	30 Hz	Right IR image
/main_camera/image_raw/compressed	sensor_msgs/CompressedImage	30 Hz	Downward RGB image
/mavros/global_position/raw/fix	sensor_msgs/NavSatFix	8 Hz	GPS data
/cam1/imu	sensor_msgs/Imu	200 Hz	IMU data

Calibration

├── ptah
│   └── extrinsics.yaml
├── race1
│   └── camchain-imucam.yaml
├── race5
│   └── camchain-imucam.yaml
├── wanda
│   ├── 19509600.yaml
│   ├── 19509635.yaml
│   ├── extrinsics.yaml
│   └── tag_bundle_wanda.yaml
└── wilbur
    ├── 19504539.yaml
    ├── 19509631.yaml
    ├── extrinsics.yaml
    └── tag_bundle_wilbur.yaml

For aerial robots "race1" and "race5", the camera intrinsics and extrinsics with respect to realsesne IMU are provided in "camchain-imucam.yaml".

For ground robots "wanda", "wilbur" and "ptah", the extrinsics of robot frames with respect to "base_link" are provided in "extrinsics.yaml". The stereo RGB camera intrinsics are provided in "19509600.yaml" and "19509635.yaml" for "wanda" and "19504539.yaml" and "19509631.yaml" for "wilbur". The AprilTag bundle calibration of "wilbur" and "wanda" are provided in "tag_bundle_wanda.yaml" and "tag_bundle_wilbur.yaml".

The "tag_bundle_joint" of "wilbur" and "wanda" are tag 0 and tag 8. The "base_link" of "wanda", "wilbur" and "wanda" are the center footprint of the robot, which is the projection of the center of the robot on the ground.