README

This repo provides data for the DARPA Subterranean Challenge Urban Circuit, including:

• ground truth data for Artifact types and locations

• point cloud scans of the Alpha and Beta courses at Satsop Business Park in Elma, Washington

• information about the topological network structure of the course (see network directory)

Files

• Urban_Artifact_Ground_Truth.xlsx -- Spreadsheet listing each Artifact; its type; and x,y,z location in the relevant DARPA coordinate frame for each course (Alpha / Beta) and configuration (1 / 2).

• Urban_Fiducials_Ground_Truth.xlsx -- Spreadsheet listing reference frame fiducials for each course.

• Urban_Artifact_Map.pdf -- Map of Artifact locations and associated artifact types for the two course configurations in the format .

• data/Urban_Circuit_LowRes_Scan_alpha_LowerFloor.pcd -- Point cloud of the Alpha course lower level, defined in the DARPA Cartesian coordinate frame for the Alpha course.

• data/Urban_Circuit_LowRes_Scan_alpha_UpperFloor.pcd -- Point cloud of the Alpha course upper level, defined in the DARPA Cartesian coordinate frame for the Alpha course.

• data/Urban_Circuit_LowRes_Scan_beta_LowerFloor.pcd -- Point cloud of the Beta course lower level, defined in the DARPA Cartesian coordinate frame for the Beta course.

• data/Urban_Circuit_LowRes_Scan_beta_UpperFloor.pcd -- Point cloud of the Beta course upper level, defined in the DARPA Cartesian coordinate frame for the Beta course.

• network -- Directory containing course topology and description.

Course Visualization in RViz

The two courses may be visualized as point clouds with artifact markers using ROS and RViz. This package depends on ROS and the pcl_ros package to build.

To visualize the point clouds and artifact locations, run roslaunch urban_ground_truth view.launch. Pass with arguments, e.g., course:=alpha config:=1 to visualize artifact locations for a particular course and configuration. Course may be alpha or beta. Config may be 1 or 2.

Links

• Point Cloud Flythrough

  • Alpha: https://youtu.be/gXl4_R9cOlo
  • Beta: https://youtu.be/KID5LeO39xU

• Course Walkthrough

  • Alpha Configuration 1: https://youtu.be/T5M1zDDZy24
  • Beta Configuration 1: https://youtu.be/Amb1ghx8IRM
  • Alpha Configuration 2: https://youtu.be/mhNAX1dpl84
  • Beta Configuration 2: https://youtu.be/Eejmchll0l8

• Matterport Viewer

  • Alpha: https://my.matterport.com/show/?m=dP4NytELbJB
  • Beta: https://my.matterport.com/show/?m=jUip4QJdeg6

• Matterport Files

  • Alpha: https://subt-challenge.s3.amazonaws.com/urban_circuit/Urban_Circuit_Matterport_Alpha_Course.zip
  • Beta: https://subt-challenge.s3.amazonaws.com/urban_circuit/Urban_Circuit_Matterport_Beta_Course.zip

• High-resolution Course Point Clouds

  • https://subt-data.s3.amazonaws.com/urban_scans/SubT_Urban_Circuit_Alpha_Course_Pointcloud.las.zip (6.4 GB)
  • https://subt-data.s3.amazonaws.com/urban_scans/SubT_Urban_Circuit_Beta_Course_Pointcloud.las.zip (7.8 GB)

Contact Information

If you have any questions or comments about this repository, please contact:

• Ryan Halterman - ryhalt@spawar.navy.mil
• Angela Maio - angela.c.maio.civ@mail.mil
• SubT Challenge Mailbox - SubTChallenge@darpa.mil