CID-SIMS: Complex indoor dataset with semantic information and multi-sensor data from a ground wheeled robot viewpoint

doi:10.1177/02783649231222507

	CID-SIMS: Complex indoor dataset with semantic information and multi-sensor data from a ground wheeled robot viewpoint
	Zhang, Yidi 1,2; An, Ning3 ; Shi, Chenhui2 ; Wang, Shuo1,2 ; Wei, Hao2 ; Zhang, Pengju2 ; Meng, Xinrui3 ; Sun, Zengpeng 3; Wang, Jinke 3; Liang, Wenliang3 ; Tang, Fulin2 ; Wu, Yihong1,2
发表期刊	INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
ISSN	0278-3649
	2023-12-21
页码	19
通讯作者	Tang, Fulin(fulin.tang@nlpr.ia.ac.cn) ; Wu, Yihong(yhwu@nlpr.ia.ac.cn)
摘要	Simultaneous localization and mapping (SLAM) and 3D reconstruction have numerous applications for indoor ground wheeled robots such as floor sweeping and food delivery. To advance research in leveraging semantic information and multi-sensor data to enhance the performances of SLAM and 3D reconstruction in complex indoor scenes, we propose a novel and complex indoor dataset named CID-SIMS, where semantic annotated RGBD images, inertial measurement unit (IMU) measurements, and wheel odometer data are provided from a ground wheeled robot viewpoint. The dataset consists of 22 challenging sequences captured in nine different scenes including office building and apartment environments. Notably, our dataset achieves two significant breakthroughs. Firstly, semantic information and multi-sensor data are provided meanwhile for the first time. Secondly, GeoSLAM is utilized for the first time to generate ground truth trajectories and 3D point clouds within two-centimeter accuracy. With spatial-temporal synchronous ground truth trajectories and 3D point clouds, our dataset is capable of evaluating SLAM and 3D reconstruction algorithms in a unified global coordinate system. We evaluate state-of-the-art SLAM and 3D reconstruction approaches on our dataset, demonstrating that our benchmark is applicable. The dataset is publicly available on https://cid-sims.github.io.
关键词	Dataset ground wheeled robots semantic segmentation multi-sensor data simultaneous localization and mapping 3D reconstruction
DOI	10.1177/02783649231222507
关键词[WOS]	EXTRINSIC CALIBRATION ; CAMERA ; SLAM ; LOCALIZATION ; VERSATILE ; VISION ; LIDAR
收录类别	SCI
语种	英语
资助项目	National Key Research and Development Program of China[2022YFB3303202] ; National Key R&D Program of China[61836015] ; National Key R&D Program of China[62202468] ; National Natural Science Foundation of China
项目资助者	National Key Research and Development Program of China ; National Key R&D Program of China ; National Natural Science Foundation of China
WOS研究方向	Robotics
WOS类目	Robotics
WOS记录号	WOS:001128508800001
出版者	SAGE PUBLICATIONS LTD
引用统计
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/54881
专题	多模态人工智能系统全国重点实验室
通讯作者	Tang, Fulin; Wu, Yihong
作者单位	1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Multimodal Artificial Intelligence, 95 Zhongguancun East Rd, Beijing 100190, Peoples R China 3.Horizon Robot, Beijing, Peoples R China
第一作者单位	中国科学院自动化研究所
通讯作者单位	中国科学院自动化研究所
推荐引用方式 GB/T 7714	Zhang, Yidi,An, Ning,Shi, Chenhui,et al. CID-SIMS: Complex indoor dataset with semantic information and multi-sensor data from a ground wheeled robot viewpoint[J]. INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH,2023:19.
APA	Zhang, Yidi.,An, Ning.,Shi, Chenhui.,Wang, Shuo.,Wei, Hao.,...&Wu, Yihong.(2023).CID-SIMS: Complex indoor dataset with semantic information and multi-sensor data from a ground wheeled robot viewpoint.INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH,19.
MLA	Zhang, Yidi,et al."CID-SIMS: Complex indoor dataset with semantic information and multi-sensor data from a ground wheeled robot viewpoint".INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH (2023):19.