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Table of Contents
The omni-dataset is a collection of time-stamped sensor data acquired from four omni-directional soccer robots. These four robots (and one more robot, not present in this dataset), called OMNI and named as OMNI1--OMNI5, formed the SocRob Middle Sized League (MSL) team which participated in the RoboCup and national MSL championships from the years 1999 to 2013. Please note that the dataset also consists of ground truth data, acquired from an external stereo vision system.
For more information on the SocRob MSL team, please visit http://socrob.isr.ist.utl.pt/
For a more detailed description of the robot hardware and the vision system mounted on the robot, please see Appendix A of the thesis  downloadable here: http://welcome.isr.ist.utl.pt/pub/?accao=showpublication&id_publication=2873
Further description of the dataset:
Sensor data from robots OMNI1, OMNI3, OMNI4 and OMNI5 are present in this dataset. During data collection, uniquely colored markers were placed on top of each of the robot for the purpose of ground truth evaluation.
Two soccer balls (of different colors and FIFA standard size-5), connected to a thin string, were moved around in the IRSLab soccer field in a way such that their positions vary over time in 3D space. 10 distinct colored landmarks were placed at known locations on the field. The robots were manually maneuvered in such a way that they do not collide with each other as well as come far and close to the ball positions at different times. A ground truth system (GTS), explained in detail in Appendix B of , was used to save stereo image pairs while the raw sensor data collection was done. Each robot's laptop, which was placed inside the robot during the raw data collection, was used to log the following raw data along with their associated timestamps (in microseconds):
* Camera images from the fish-eye lens-based dioptric vision system of the robots at ~25 frames per second (FPS). * Odometry readings from the motors at ~40 Hz.
The GTS was connected to an external desktop computer which logged stereo image pairs at ~20 FPS. All the robots' laptops and the GTS were synchronized using a time-synchronization software called `chrony'.
Once the raw data was collected, 3D detection algorithm  for one of the balls (orange colored) and color based static landmark detection was performed on the images saved by each robot's vision system. Subsequently, the robot-frame logs containing the following items were generated for the full dataset.
* The orange ball's 3D positions in each robot's local frame with timestamps. * All landmark's 2D positions (landmarks are fixed and are at known-positions on the ground plane) in each robot's local frame with timestamps.
Thereafter, the orange Ball's 3D position detection using its color and all the robot's 2D position (not the pose) detection using the colored marker placed on top of them were performed on the GTS' stereo pair images. Subsequently, the global-frame (note that we know the exact positions where the landmarks were placed in order to have the global map) GT logs contain
* The 3D GT positions of the orange ball and the 2D positions of all the robots with timestamps.
In summary, the full dataset consists of all of the above enumerated items, the robot-frame data from all four robots and the global-frame GT data for all 4 robots from the external stereo vision GT system. Note that the items enumerated above are less than all the measurement data that could be extracted from the raw data in the datasets made during the data collection.
We also provide a nose profile of the range component of the orange ball observation measurements made by the robot. For this purpose, noise in the range measurement is calculated. This is done by calculating the actual range between a given robot and the orange ball using their GT measurements and then subtracting it from the range component of the orange ball observation measurements made by that robot at the same timestep. This mean and standard deviation of this noise in the range measurements over the whole dataset is calculated. Note that we cannot do this for the orientation component of the ball observation measurements because we do not have the orientation GT of the robots.
Also note that a positive noise signifies that range measurements are made further than they actual range while a negative noise would mean the other way around.
Caution: The dataset is huge and may take hours to download depending upon your internet connection speed. Furthermore, after decompression and extraction, you will require around 50 GB of space to store and access all files (either raw format or rosbags format)
Raw format: http://datasets.isr.ist.utl.pt/lrmdataset/4_Robots_DataSet/rawdata/ In here, you will find the following files:
1. Robots_Images_and_Odometry.tar.gz 2. GroundTruth_Images.tar.gz 3. How_To_Use.txt 4. thanks.txt
The file names above are self-explanatory. Currently, in the raw dataset you will only find the raw images and odometry. As mentioned in the previous section, the extracted robot-frame measurement data of the orange ball and the landmarks are not present in the raw format of the dataset. However, they are present in the rosbags format as explained further. In case you really require this secondary measurements in raw format, please feel free to email me directly.
Please use any decompression and file extraction software available of unix-like systems or perhaps Windows (Not tested, though)
Rosbags format: http://datasets.isr.ist.utl.pt/lrmdataset/4_Robots_DataSet/rosbags/ In here, you will find the following files:
1. four_msl_robots_dataset.tar.xz 2. four_robot_experiment_GT.bag 3. Right.tar.xz
We will now explain each of the above three files.
File 1. four_msl_robots_dataset.tar.xz To decompress and extract, use the following command:
* tar xf four_msl_robots_dataset.tar.xz
After extraction, you will find the following four rosbags, one for each robot:
OMNI1_odomballLandmarks.bag OMNI3_odomballLandmarks.bag OMNI4_odomballLandmarks.bag OMNI5_odomballLandmarks.bag
The names are self explanatory. Each one contains the raw images (ppm format), ball and landmark measurement data and odometry data from the corresponding OMNI robot. An example output of rosbag info on one of these bags is as follows.
path: /path-to-datasetDirectory/OMNI1_odomballLandmarks.bag version: 2.0 duration: 8:00s (480s) start: May 07 2012 16:50:02.68 (1336402202.68) end: May 07 2012 16:58:03.12 (1336402683.12) size: 10.6 GB messages: 52342 compression: none [12272/12272 chunks] types: nav_msgs/Odometry sensor_msgs/Image socrobdata_to_rosbags/BallData socrobdata_to_rosbags/LRMLandmarksData topics: omni1/devices/topcam/image_raw 12271 msgs : sensor_msgs/Image omni1/landmarkspositions 12271 msgs : socrobdata_to_rosbags/LRMLandmarksData omni1/odometry 15530 msgs : nav_msgs/Odometry omni1/orangeball3Dposition 12270 msgs : socrobdata_to_rosbags/BallData</code>
Other rosbags have similar contents. Please note here that the ros message type "LRMLandmarksData" and "BallData" are custom-made and in fact provided by the package read_omni_dataset. You can either copy these message files from the msg folder of the read_omni_dataset ros package and use them in your own custom packages or simply use them within this package. Remember that the path to custom messages (here it is socrobdata_to_rosbags/) is irrelevant.
File 2. four_robot_experiment_GT.bag
Output of rosbag info on this bag is as follows.
path: /home/aamir/DataSet_Lisbon/GT_Images/4_Robot_Exp/4_Robot_Experiment_GT.bag version: 2.0 duration: 7:50s (470s) start: May 07 2012 16:50:06.99 (1336402206.99) end: May 07 2012 16:57:57.67 (1336402677.67) size: 14.8 MB messages: 10118 compression: none [20/20 chunks] types: socrobdata_to_rosbags/LRMGTData [a7f5dd7185c9e08c3c3b2baefda96b70] topics: gtData_4robotExp 10118 msgs : socrobdata_to_rosbags/LRMGTData</code>
The message type LRMGTData has the following contents:
read_omni_dataset/BallData orangeBall3DGTposition string LeftFilename string RightFilename bool foundOMNI4 bool foundOMNI3 bool foundOMNI1 bool foundOMNI5 geometry_msgs/PoseWithCovariance poseOMNI4 geometry_msgs/PoseWithCovariance poseOMNI3 geometry_msgs/PoseWithCovariance poseOMNI1 geometry_msgs/PoseWithCovariance poseOMNI5
Almost all of the above contents are named in a self-explanatory way. "RightFilename" refers to the image file name from the right-camera of the stereo-vision ground truth system's camera. Similarly, the left filename. This filename is provided to look up for the image file in the folder named "Right" which can be obtained by extracting the third archive (see point 3 below). The image file can then be used in many ways, for example, to overlay the GT values of thhe robot position/ball position on to the images from the right camera.
File 3. Right.tar.xz
To decompress and extract, use the following command:
- tar xf Right.tar.xz
Step 0. Make sure that you have ros (indigo or hydro) installed.
Step 1. Make sure you have all the dataset files downloaded.
Step 2. Make sure you downloaded the latest version of the read_omni_dataset rospackage and have compiled it (basically putting it in your catkin_ws/src folder, currectly setting up the source path and doing catkin make).
Step 3. Note that you can choose to run one or more bag files (corresponding to each one of the robot) at a time, depending on how many robots you want to use in your application. Meaning, if you want to use a single robot say OMNI4, you can simply run the bag file corresponding to OMNI4. Or else, if you want to use all four robots, play simultaneously all 4 bag files. In the instructions further on, we choose a case where all 4 robots are supposed to be used.
Step 4. In the first terminal screen execute roscore.
- rosbag play -l /path-to-datasetDirectory/OMNI1_odomballLandmarks.bag /path-to-datasetDirectory/OMNI3_odomballLandmarks.bag /path-to-datasetDirectory/OMNI4_odomballLandmarks.bag /path-to-datasetDirectory/OMNI5_odomballLandmarks.bag /path-to-datasetDirectory/four_robot_experiment_GT.bag
- rosrun read_omni_dataset read_omni_dataset_node
[ WARN] [1417774021.789838378]: got landmark data from teammate robot (ID=4)[ INFO] [1417774021.789848316]: Landmark 4 found in the image, refer to the method to see how covariances are calculated [ INFO] [1417774021.789856914]: Landmark 5 found in the image, refer to the method to see how covariances are calculated [ INFO] [1417774021.789866232]: Landmark 6 found in the image, refer to the method to see how covariances are calculated [ INFO] [1417774021.789874357]: Landmark 8 found in the image, refer to the method to see how covariances are calculated [ INFO] [1417774021.789884725]: Landmark 9 found in the image, refer to the method to see how covariances are calculated [ WARN] [1417774021.795990169]: got odometry from self-robot (ID=1) at time 1336402229 [ INFO] [1417774021.796059119]: Odometry propogated self robot state is x=4.975660, y=-2.648219, theta=3.138352 [ WARN] [1417774021.807255918]: Got ball data from self robot 1 [ INFO] [1417774021.807296673]: Ball found in the image, refer to the method to see how covariances are calculated [ WARN] [1417774021.807314958]: got landmark data from self robot (ID=1) [ INFO] [1417774021.807326304]: Landmark 6 found in the image, refer to the method to see how covariances are calculated [ INFO] [1417774021.807335590]: Landmark 7 found in the image, refer to the method to see how covariances are calculated [ INFO] [1417774021.807343925]: Landmark 8 found in the image, refer to the method to see how covariances are calculated
What this basically shows is what read_omni_dataset rosnode is able to read directly from the rosbags. As stated before, the purpose of this rospackage is to provide a starting platform to develop perception related algorithms. The read_omni_dataset rosnode asynchronously reads the sensor messages from the rosbags and generates a callback specific to the message. The callbacks are per robot per sensor but can be synced and stitched using synchronization packages available in ros. The developer is invited to check the definitions of the callback functions and develop their perception algorithm there.
In the header file of the package there are a number of static variables dependent on the kind of application. Some basic ones, which you must always set manually are:
NUM_ROBOTS = 4; // total number of robots in the team including self which is required to run in the particular application.
ROB_HT = 0.81; // fixed height of the OMNI robots above ground in meter.
MY_ID = 1; // Use this flag to set the ID of the robot expected to run a certain decentralized algorithm. Robot with MY_ID will be trated as the self robot running the algorithm while the rest will be considered teammates. Note that in the dataset there are 4 robots with IDs 1,3,4 and 5. Robot with ID=2 is not present.
In the next improvements, these parameters will be moved to rosnode arguments and can be set in the launch file.
 An Integrated Bayesian Approach to Multi-Robot Cooperative Perception, Aamir Ahmad, Ph.D. Thesis, Instituto Superior Técnico, Universidade Técnica de Lisboa, 2013.
 3D to 2D bijection for spherical objects under equidistant fisheye projection, Aamir Ahmad, João Xavier, José Santos-Victor, Pedro Lima, Computer Vision and Image Understanding (CVIU), Volume 125, August 2014, Pages 172-183, ISSN 1077-3142, http://dx.doi.org/10.1016/j.cviu.2014.04.004.