Laser Remission Data

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.

SICK LMS 291

LMS 291 street measurements (0.9 MB)
LMS 291 grass measurements (1.8 MB)

SICK LMS 151

LMS 151 street measurements (2.4 MB)
LMS 151 grass measurements (3.1 MB)
LMS 151 tile measurements (3.4 MB)

Hokuyo 30LX

Hokuyo 30LX street measurements (6.2 MB)
Hokuyo 30LX grass measurements (8.2 MB)

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.