UTIAS Multi-Robot Data Extractor 0.0.1
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C++ UTIAS Multi-Robot Data Extractor

This project provides a c++ class as an interface for using the UTIAS Multi-Robot Cooperative Localisation and Mapping dataset. The project provides the following functionality:

  • Extracts the UTIAS dataset into a c++ class allowing for easy interfacing with the dataset.
  • Syncs the timesteps across all measuremets using the same approach as that of the MATLAB Script provided with the dataset (linear interpolation).
  • Calculates the corresponding sensor groundtruth for the odometry and measuremet sensors, using the provided state groundtruth (2D position and heading).
  • Calculates the sensor error statistics used in Bayesian filtering frameworks.
  • Provides a interface for gnuplot to allow for visualisation of extracted data and calculated error statistics.

Documentation

For more information, the documentation for this project is available at: Cooperative Positioning Data Handler github page.

Overview