On this page we provide laser remission measurements of asphalt and grass. The sensors were mounted on a mobile robot at a height of approximately 0.6m above the ground and were tilted to a downwards looking angle of approximately 70 degrees. The robot then moved forward to collect example data.
Data files consist of six columns: the measured range, an estimate of the incidence angle, the measured laser remission, and the 3D measurement point (x y z).
The data was used in the evaluation presented in following article:
K.M. Wurm, H. Kretzschmar, R. Kümmerle, C. Stachniss, and W. Burgard.
Identifying Vegetation from Laser Data in Structured Outdoor Environments.
In: Journal of Robotics and Autonomous Systems, Special issue on semantic mapping, 2012.
Conditionally accepted for publication.