DiTer++ Dataset

(Under Review) [IEEE ICRA 25] This repository is the official code for DiTer++: Diverse Terrain and Multi-modal Dataset for Multi-Robot Navigation in Multi-session Outdoor Environments.

Juwon Kim, Hogyun Kim, Seokhwan Jeong, Youngsik Shin, Younggun Cho^†

Spatial AI and Robotics Lab (SPARO)

News

• Accepted in ICRA24 / Workshop on Future of Construction
• Submitted to ICRA25

Download

• The dataset is provided on-demand. Link containing all data in our paper will be uploaded soon.

Sensor Configuration

• We configure multiple legged robot with various sensors offered in multi-session datasets.

  

Calibration

• Sensor calibration parameters including intrinsic & extrinsic will be uploaded soon.

Data & Topic

• Our data are stored in rosbag format
• Each agent has custom namespace of its own to be distinguishable
• Topic name for each sensor are listed in table below

  

Cite DiTer++

@article{kim2024diter,
  title={DiTer++: Diverse Terrain and Multi-modal Dataset for Multi-Robot Navigation in Multi-session Outdoor Environments},
  author={Kim, Juwon, Kim, Hogyun, Jeong, Seokhwan, Shin, Youngsik and  and Cho, Younggun}
}

Distribution License

DiTer++ is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.

Please read the license and use our data set accordingly. Thank you very much for your interest!

Contact

• Juwon Kim (lambertkim317@gmail.com)
• Seokhwan Jeong (eric5709@inha.edu)
• Hogyun Kim (hg.kim@inha.edu)