Hyper-Drive: 非構造環境ロボット向け可視〜短波赤外ハイパースペクトル画像データセット
Hyper-Drive: Visible-Short Wave Infrared Hyperspectral Imaging Datasets for Robots in Unstructured Environments
移動ロボット上で可視から短波赤外(660-1700nm)のハイパースペクトルデータキューブを取得するシステムを構築し、ATLASオントロジーに準拠した500以上のラベル付きデータキューブを公開した。
著者: Nathaniel Hanson, Benjamin Pyatski, Samuel Hibbard, Charles DiMarzio, Taşkın Padır
分類: cs.RO
原文アブストラクト
Hyperspectral sensors have enjoyed widespread use in the realm of remote sensing; however, they must be adapted to a format in which they can be operated onboard mobile robots. In this work, we introduce a first-of-its-kind system architecture with snapshot hyperspectral cameras and point spectrometers to efficiently generate composite datacubes from a robotic base. Our system collects and registers datacubes spanning the visible to shortwave infrared (660-1700 nm) spectrum while simultaneously capturing the ambient solar spectrum reflected off a white reference tile. We collect and disseminate a large dataset of more than 500 labeled datacubes from on-road and off-road terrain compliant with the ATLAS ontology to further the integration and demonstration of hyperspectral imaging (HSI) as beneficial in terrain class separability. Our analysis of this data demonstrates that HSI is a significant opportunity to increase understanding of scene composition from a robot-centric context. All code and data are open source online: https://river-lab.github.io/hyper_drive_data
