README FILE FOR E4 and F1 SERIES RANGE DATA This data was captured at the University of Michigan Artificial Intelligence Laboratory, using by a structured light range sensor on-board a mobile robot. The range sensor was a home-made sensor, made from an in-focus LP1000 projector, Sony CCD camera, Matrox Millennium II frame grabber, and custom software. Camera and projector were calibrated using the method of Heikkila. Data was captured on December 2000 for the E4 series, and December 2001 for the F1 series. The camera is located at the origin (0,0,0), with the z coordinate increasing away from the camera. Units of the txt file are cm. Ground truth values (from robot odometry) are found below. The robot is the Omnimate robot, designed by Johann Borenstein. The Omnimate rather unusual in that it has two independent trucks. These two trucks (front and back) combine to support a large metal platform which holds the range sensor. For each image I have absolute (x,y) coordinates for both the front truck (XOF,YOF) and back truck (XOR,YOR). Because the platform is directly attached to the front truck, and the back truck slides along below, you should consider (XOF,YOF) to be the absolute position of the robot. The orientation can be found based on the angle of the line segment from (XOR,YOR) to (XOF,YOF). Note that the range sensor is not calibrated with respect to the robot. So although the camera is on the robot, I don't have any information about the position and orientation of the camera coordinate system relative to the front truck. Units of robot truck locations are in mm. All of the ground truth values were hand-written from the robot CRT into my lab notebook when the data was captured. Then, they were hand-typed into this file. There may be data entry errors in either stage, so beware. Special thanks to James Berry for helping me with the Omnimate robot, and to Dan Berwick his help in building the calibration grid. This material is based upon work supported by DOE under Award No. DE-FG04-86NE37969. Greg Sharp gregsharp@geocities.com Mar 26, 2003 ========================================================================= GROUND TRUTH ROBOT POSITIONS: E4 DATA ========================================================================= FILE XOF YOF XOR YOR ---- ----- ----- ----- ------ e4e1 (no data) e4e2 (no data) e4e3 4799 4799 4800 3632 e4e4 5263 4815 5093 3665 e4e5 5361 4793 4991 3682 e4e6 5903 4135 5468 3037 e4e7 5892 4131 5652 2983 e4e8 6440 4254 6202 3115 e4e9 6830 4461 6574 3323 e4e10 6579 3619 6484 2444 e4e11 6402 2937 6486 1766 e4e12 6368 2074 6708 953 e4e13 6285 2039 6779 974 e4e14 6828 1361 7389 333 e4e15 7246 264 8100 -541 e4e16 7588 -360 8583 -985 e4e17 7553 -435 8638 -883 e4e18 7517 -561 8679 -774 e4e19 7511 -668 8686 -679 e4e20 7576 -1468 8701 -1139 e4e21 7617 -1569 8669 -1047 e4e22 7408 -1210 8413 -605 e4e23 7094 -542 8133 -1 e4e24 6807 86 7851 616 e4e25 6480 886 7638 976 e4e26 6242 1238 7375 1558 e4e27 6061 1713 7150 2133 e4e28 5936 2442 7071 2169 e4e29 5031 2019 6200 1627 e4e30 4238 4319 5081 3574 e4e31 5481 1957 6629 2201 e4e32 6254 1881 7304 2415 e4e33 6588 1249 7467 2024 e4e34 6638 1199 7430 2065 e4e35 6406 1389 7109 2323 e4e36 7083 866 7653 1895 e4e37 7850 512 8319 1587 e4e38 7696 -112 8148 1010 e4e39 7755 -111 8080 1008 e4e40 8109 -144 8305 1008 e4e41 8834 -204 8880 948 e4e42 8862 -206 8840 950 e4e43 8894 -203 8789 948 e4e44 8902 -202 8759 944 e4e45 8939 -192 8648 920 e4e46 9734 138 9238 1200 e4e47 9804 179 9159 1155 e4e48 9857 224 9106 1116 e4e49 9902 270 9050 1064 e4e50 10686 -102 9704 542 e4e51 9132 1909 7990 2241 e4e52 6968 4144 5843 4045 e4e53 5220 5107 4460 4217 e4e54 5094 5193 4473 4204 e4e55 5400 5041 4874 3994 e4e56 5400 5041 4874 3994 (Same as prev, but ambient lights back on) e4e57 6024 4237 5481 3260 e4e58 6569 3972 6039 2933 e4e59 6670 3940 6295 2849 e4e60 6374 3074 6253 1975 e4e61 8156 1603 8874 765 e4e62 7660 1061 8642 406 ========================================================================= GROUND TRUTH ROBOT POSITIONS: F1 DATA ========================================================================= FILE XOF YOF XOR YOR ---- ----- ----- ----- ------ f8 9154 3835 9367 2678 f9 9622 3921 9879 2799 f10 9653 3687 10025 2569 f11 9544 3645 10091 2587 f12 9498 3601 10077 2581 Robot encoders were reinitialized between f12 and f13 because of chattering. There was no explicit move command given, but encoder initialization causes some small move. f13 9493 3601 10112 2515 f14 9979 3824 10619 2814 f15 9923 3780 10633 2819 f16 9771 3627 10549 2747 f17 9709 3562 10558 2751 f18 11621 3409 12732 3447 f19 12142 3423 13274 3460 f20 13151 4008 14281 4050 f21 11686 3401 12635 2720 f22 11476 2781 12579 2395 f23 11464 2753 12622 2580 f24 11461 2701 12635 2731 f25 11459 2785 12611 3001 f26 11453 2787 12578 3110 f27 11449 2795 12541 3197 Reinitialize encoders again (with explicit move?). f28 11373 2710 12417 3214 f29 11404 2636 12378 3287 f30 11474 2536 12376 3296 f31 11506 2502 12339 3345 f32 11543 2472 12287 3398 f33 11579 2450 12248 3429 f34 11814 2609 12333 3584 f35 11857 2578 12288 3620 f36 11902 2547 12239 3662 f37 11952 2529 12183 3689 f38 12001 2524 12120 3701 f39 12066 2526 11978 3700 f40 10027 2679 11028 3292 f41 9095 2561 10088 3190 f42 8481 2398 9500 2981 f43 7619 2027 8482 2622 f44 6871 1885 7839 2536 f45 4419 2755 5414 3409 f46 5578 3028 6480 3771 f47 4226 2699 5129 3442 f48 3980 3015 4713 3935 f49 3457 2767 4148 3711 f50 3234 3397 3690 4477 f51 2836 3580 3087 4726 f52 3575 3635 2711 4796 f53 2191 3670 2172 4841 f54 2287 3676 2135 4836 f55 2419 3693 2146 4833 f56 2589 3733 2212 4847 f57 1426 3693 791 4669 f58 1542 3773 785 4670 f59 1635 3800 739 4690 f60 2096 4162 1165 4860 f61 2132 4217 1113 4803 f62 2233 4557 996 4944 f63 2736 4519 1665 4982 f64 3581 4821 2476 5191 f65 3703 4331 2843 5124 f66 3760 4599 2647 4973 f67 4477 4494 3383 4906 f68 5184 4758 4133 5148 f69 5897 4741 4796 5148 f70 7109 4264 6305 5106 f71 7853 4263 7050 5111 f72 8547 3914 7727 4742 f73 9030 4006 8203 4747 f74 9057 4030 8086 4616 f75 6970 5038 5800 4986 f76 6142 5188 5165 4527 f77 5573 4904 4788 4028 f78 6928 4546 6123 3711 f79 7050 4392 6442 3434 f80 7012 4427 6476 3391 f81 6938 4466 6538 3349 f82 6865 4481 6601 3328 f83 6784 4491 6654 3317 f84 6428 3944 6560 2849 f85 6315 3953 6664 2837 f86 7069 2680 6969 1518 f87 5347 4316 5848 3253 f88 4401 4483 4989 3472 f89 4072 4627 4849 3694 f90 3221 4570 4017 3731 f91 (no data) The data for f91 is missing in my notes. It *might* be the case somewhere else early a reading is missing, and all subsequent readings got shifted up by one.