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Research and Teaching Output of the MIT Community

Show simple item record O'Sullivan, Shane en_US 2011-04-20T22:39:46Z 2011-04-20T22:39:46Z 2010-12-07 en_US
dc.description This is sonar data taken during a simulated run around the AIC environment provided with the Saphira simulator using a Pioneer 1 robot. There are 4 files in the Zip file attached. contains the sonar data. MapViewer_Tutorial 4_Building_Maps_From_Sonar_Data.pdf explains the file format. contains the generated map in Carmen map format -, with a resolution of 50mm, meaning each grid cell is 50mm wide and 50mm high. This file can be opened using either Carmen or MapViewer, available at RobotRunFileHelper.h is a C++ class that can read and write the sonar data files. More information and sample usages of it can be found in the Tutorial4 zip file at The layout of the sonars is detailed in the .run file (this is also covered in the PDF). MapViewer can be used to build maps from this sonar data (at any resolution), and also to simply show the path taken by the robot in the environment. For the test run, odometry error was turned off, meaning localisation was not needed. However, error in the sonar readings is still present. en_US
dc.rights CC0 1.0 Universal en_US
dc.rights.uri en_US
dc.subject Indoor sensor data en_US
dc.subject 2D sensor data en_US
dc.subject Sonar en_US
dc.title aic1_sonar_data_simulated_noloc en_US

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aic1_simulated_so ... 298.8Kb Unknown data file

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CC0 1.0 Universal Except where otherwise noted, this item's license is described as CC0 1.0 Universal