野外データ収集のためのウェアラブル多用途プラットフォームの実地報告
Field Report on a Wearable and Versatile Solution for Field Acquisition and Exploration
防水ケースを20kgのバックパックに拡張し、カメラ・LiDAR・IMU・GNSSを搭載して5.5時間稼働する野外データ収集プラットフォームを開発し、20km以上の実地運用から得た知見と応用例を報告した。
著者: Olivier Gamache, Jean-Michel Fortin, Matěj Boxan, François Pomerleau, Philippe Giguère
分類: cs.RO
原文アブストラクト
This report presents a wearable plug-and-play platform for data acquisition in the field. The platform, extending a waterproof Pelican Case into a 20 kg backpack offers 5.5 hours of power autonomy, while recording data with two cameras, a lidar, an Inertial Measurement Unit (IMU), and a Global Navigation Satellite System (GNSS) receiver. The system only requires a single operator and is readily controlled with a built-in screen and buttons. Due to its small footprint, it offers greater flexibility than large vehicles typically deployed in off-trail environments. We describe the platform's design, detailing the mechanical parts, electrical components, and software stack. We explain the system's limitations, drawing from its extensive deployment spanning over 20 kilometers of trajectories across various seasons, environments, and weather conditions. We derive valuable lessons learned from these deployments and present several possible applications for the system. The possible use cases consider not only academic research but also insights from consultations with our industrial partners. The mechanical design including all CAD files, as well as the software stack, are publicly available at https://github.com/norlab-ulaval/backpack_workspace.
