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TAIL-Platforms

Models

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The CAD and urdf models of the robot platforms and the sensor suite we used in TAIL dataset are provided here.

models/wheeled/CAD/wheeled.SLDASM: assembly of the wheeled platform

models/quadruped/CAD/quadruped.SLDASM: assembly of the quadruped platform

Robot platforms: ScoutMini & Unitree-GO1.
The sensors include:
• 1 × LiDAR: Ouster OS0-128
• 3 × downward RGB-D camera: one Azure Kinect DK and two Realsense D435i cameras
• 2 × global-shutter color camera: two HKVision MV-CA013-A0UC cameras + MVL-HF0824M-10MP lenses
• 1 × RTK-GPS device: Ublox ZED-F9P
• 1 × extra IMU: Xsens MTi-680G

Time synchronization

The overview of hardware time synchronization process is shown below.

We would appreciate it if you use our dataset and cite our paper：

@article{tail2023yao,
  title={TAIL: A Terrain-Aware Multi-Model Dataset for Robust SLAM in Deformable, Granular Environment},
  author={Yao, Chen and Ge, Yangtao and Shi, Guowei and Wang, Zirui and Yang, Ningbo and Zhu, zheng and Wei, Hexiang and Zhao, Yuntian and Wu, Jing and Jia, Zhenzhong},
  year={2023},
  url={https://tailrobot.github.io/}
}