ShanghaiTech Mapping Robot is All You Need: Robot System for Collecting Universal Ground Vehicle Datasets
Bowen Xu, Xiting Zhao, Delin Feng, Yuanyuan Yang, S\"oren Schwertfeger

TL;DR
The paper introduces the ShanghaiTech Mapping Robot, a comprehensive multi-sensor platform designed to collect diverse datasets for advancing research in SLAM, computer vision, and autonomous driving, with detailed hardware, software, and calibration procedures.
Contribution
It presents a novel multi-sensor unmanned ground vehicle system with integrated hardware and software for large-scale dataset collection, supporting benchmarking in robotics research.
Findings
Collected extensive outdoor datasets in diverse environments.
Demonstrated the dataset's utility with SLAM algorithm experiments.
Provided publicly available datasets and calibration data for research use.
Abstract
This paper presents the ShanghaiTech Mapping Robot, a state-of-the-art unmanned ground vehicle (UGV) designed for collecting comprehensive multi-sensor datasets to support research in robotics, Simultaneous Localization and Mapping (SLAM), computer vision, and autonomous driving. The robot is equipped with a wide array of sensors including RGB cameras, RGB-D cameras, event-based cameras, IR cameras, LiDARs, mmWave radars, IMUs, ultrasonic range finders, and a GNSS RTK receiver. The sensor suite is integrated onto a specially designed mechanical structure with a centralized power system and a synchronization mechanism to ensure spatial and temporal alignment of the sensor data. A 16-node on-board computing cluster handles sensor control, data collection, and storage. We describe the hardware and software architecture of the robot in detail and discuss the calibration procedures for the…
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Taxonomy
TopicsRobotics and Automated Systems
