Time-of-Flight

Miniature mobile robots in multi-robotic systems require robust environmental perception for successful navigation, especially when operating in real-world environments. One of the sensors that have recently become accessible for miniature mobile robots due to their size and cost-effectiveness is a multi-zone time-of-flight (ToF) sensor. The object of classification in the dataset is a miniature mobile robot on a sand-like terrain with rocks. The dataset was acquired with the ST VL53L5CX ToF sensor.

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This dataset has been taken using the Photonic Mixer Device (PMD) Selene Module. To capture the image, we have constructed a demonstrator setup consisting of five materials (i.e., foam board (location: center), crepe paper (location: top), polystyrene (location: right), bubble wrap (location: left), wax (location: bottom)). Each image has been taken at 5 different distances (uniformly distributed between 82 cm to 47 cm) and at 3 different orientations (uniformly distributed between -10 degree to 10 degree) for each material. To avoid noise, each image has been taken in dark environment.

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