The Jackal UGV, from Clearpath Robotics, was used as the data collecting platform. This skid-steer four-wheel-drive vehicle comes with an onboard IMU, two DC motors with encoders that measure wheel angular speeds, and current sensors that measure motor current outputs. On each side of the robot, the front wheel and back wheel are jointed with a gearbox and so spin together at the same rate and direction. The IMU provided vehicle attitude measurements in terms of Euler angles, as well as linear acceleration and angular rate of the vehicle body in three Euclidean axes.

DOI Link: 
10.21227/d4eq-t458
Links: 
A Convolutional Neural Network Based Vision-Proprioception Fusion Method for Robust UGV Terrain Classification
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[1] Yu Chen, "Jackal robot 7-class terrain dataset, vision and proprioception sensors", IEEE Dataport, 2021. [Online]. Available: http://dx.doi.org/10.21227/d4eq-t458. Accessed: Apr. 21, 2025.
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doi = {10.21227/d4eq-t458},
url = {http://dx.doi.org/10.21227/d4eq-t458},
author = {Yu Chen },
publisher = {IEEE Dataport},
title = {Jackal robot 7-class terrain dataset, vision and proprioception sensors},
year = {2021} }
TY - DATA
T1 - Jackal robot 7-class terrain dataset, vision and proprioception sensors
AU - Yu Chen
PY - 2021
PB - IEEE Dataport
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Yu Chen. (2021). Jackal robot 7-class terrain dataset, vision and proprioception sensors. IEEE Dataport. http://dx.doi.org/10.21227/d4eq-t458
Yu Chen, 2021. Jackal robot 7-class terrain dataset, vision and proprioception sensors. Available at: http://dx.doi.org/10.21227/d4eq-t458.
Yu Chen. (2021). "Jackal robot 7-class terrain dataset, vision and proprioception sensors." Web.
1. Yu Chen. Jackal robot 7-class terrain dataset, vision and proprioception sensors [Internet]. IEEE Dataport; 2021. Available from : http://dx.doi.org/10.21227/d4eq-t458
Yu Chen. "Jackal robot 7-class terrain dataset, vision and proprioception sensors." doi: 10.21227/d4eq-t458