Real-time 3D mapping of rough terrain: A field report from Disaster City

Abstract

Mobile systems for mapping and terrain classification are often tested on datasets of intact environments only. The behavior of the algorithms in unstructured environments is mostly unknown. In safety, security and rescue environments, the robots have to handle much rougher terrain. Therefore, there is a need for 3D test data that also contains disaster scenarios. During the Response Robot Evaluation Exercise in March 2010 in Disaster City, College Station, Texas (USA), a comprehensive dataset was recorded containing the data of a 3D laser range finder, a GPS receiver, an IMU and a color camera. We tested our algorithms (for terrain classification and 3D mapping) with the dataset, and will make the data available to give other researchers the chance to do the same. We believe that this captured data of this well known location provides a valuable dataset for the USAR robotics community, increasing chances of getting more comparable results.