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Updated Abstract and Platform Description Sections.
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‎cumulti.md‎

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# Made by Doncey Albin
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# Alter as desired. The type references article_v2.html in includes if there are things you want to change.
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type: article_v2
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title_main: "CU-Multi"
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title_main: "CU-Multi:"
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title_follow: "A Dataset for Multi-Robot Data Association"
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# university_name: "University of Colorado - Boulder" # You can comment this out if you dont like it.
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@@ -44,26 +44,295 @@ show_news_updates: False
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news_update_1: "2024-12-25 Dataset visualization code now available."
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---
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<div style="text-align: center;">
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Multi-robot systems (MRSs) are valuable for tasks such as search and rescue due to their ability to coordinate over shared observations. A central challenge in these systems is aligning independently collected perception data across space and time– i.e., multi-robot data association. While recent advances in collaborative SLAM (C-SLAM), map merging, and inter-robot loop closure detection have significantly progressed the field, evaluation strategies still predominantly rely on splitting a single trajectory from single-robot SLAM datasets into multiple segments to simulate multiple robots. Without careful consideration to how a single trajectory is split, this approach will fail to capture realistic pose-dependent variation in observations of a scene inherent to multi-robot systems. To address this gap, we present CU-Multi, a multi-robot dataset collected over multiple days at two locations on the University of Colorado Boulder campus. Using a single robotic platform, we generate four synchronized runs with aligned start times and deliberate percentages of trajectory overlap. CU-Multi includes RGB-D, GPS with accurate geospatial heading, and semantically annotated LiDAR data. By introducing controlled variations in trajectory overlap and dense lidar annotations, CU-Multi offers a compelling alternative for evaluating methods in multi-robot data association.
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<!-- css for javascript to animate Huntie rotating about -->
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<style>
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body {
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margin: 0;
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padding: 0;
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overflow: auto;
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position: relative;
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}
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#huntie-image-container {
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position: fixed;
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top: 0;
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left: 0;
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width: 100%;
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height: 100%;
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z-index: -1;
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pointer-events: none;
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}
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.robot-img {
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position: absolute;
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width: 100px;
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height: auto;
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user-select: none;
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transition: transform 1s ease-in-out, left 3s ease-in-out, top 3s ease-in-out;
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}
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</style>
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<div id="huntie-image-container"></div>
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<script>
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// robot colors
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const glowColors = ['limegreen', 'purple', 'orange', 'deepskyblue'];
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function getRandomInt(min, max) {
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return Math.floor(Math.random() * (max - min + 1)) + min;
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}
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function checkOverlap(x, y, size, positions) {
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for (let pos of positions) {
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if (Math.abs(x - pos.x) < size && Math.abs(y - pos.y) < size) {
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return true;
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}
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}
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return false;
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}
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function scatterImagesOnSides(src, numImages, size) {
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const container = document.getElementById('huntie-image-container');
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const positions = [];
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const allImgs = [];
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for (let i = 0; i < numImages; i++) {
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let x, y, attempts = 0;
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const side = Math.random() < 0.5 ? 'left' : 'right';
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do {
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x = side === 'left' ? getRandomInt(0, 0.1 * window.innerWidth - size) : getRandomInt(0.9 * window.innerWidth, window.innerWidth - size);
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y = getRandomInt(0, window.innerHeight - size);
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attempts++;
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} while (checkOverlap(x, y, size, positions) && attempts < 100);
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positions.push({x, y});
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const img = document.createElement('img');
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img.src = src;
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img.classList.add('robot-img');
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// add
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if (i < glowColors.length) {
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img.style.filter = `drop-shadow(0 0 4px ${glowColors[i]})`;
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}
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img.style.left = x + 'px';
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img.style.top = y + 'px';
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img.dataset.angle = getRandomInt(0, 360);
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container.appendChild(img);
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allImgs.push(img);
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}
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for (const img of allImgs) {
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animateImage(img, allImgs, size);
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}
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}
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function animateImage(img, allImgs, size) {
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setInterval(() => {
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// rotate mr huntie
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const angleChange = getRandomInt(-90, 90);
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img.dataset.angle = parseFloat(img.dataset.angle) + angleChange;
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img.style.transform = `rotate(${img.dataset.angle}deg)`;
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// translate mr huntie along new heading
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setTimeout(() => {
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const distance = getRandomInt(20, 50);
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const rad = img.dataset.angle * (Math.PI / 180);
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const moveX = Math.cos(rad) * distance;
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const moveY = Math.sin(rad) * distance;
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const newX = parseFloat(img.style.left) + moveX;
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const newY = parseFloat(img.style.top) + moveY;
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let overlap = false;
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for (const other of allImgs) {
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if (other === img) continue;
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const otherX = parseFloat(other.style.left);
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const otherY = parseFloat(other.style.top);
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if (Math.abs(newX - otherX) < size && Math.abs(newY - otherY) < size) {
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overlap = true;
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break;
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}
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}
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// make sure robots are not colliding...
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if (!overlap) {
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img.style.left = newX + 'px';
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img.style.top = newY + 'px';
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}
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}, 3000);
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}, 3000);
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}
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// 4 images of Huntie with 60px on each on sides of the page :)
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scatterImagesOnSides('/img/cumulti/huntie_bev.png', 4, 60);
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</script>
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<div style="text-align: justify; background-color:rgb(225, 225, 225); padding: 5px; border-radius: 5px;">
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<div style="text-align:center; font-size: 36px;">
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<strong>Abstract</strong>
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</div>
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<p style="text-align: justify; flex: 1; padding: 10px;">
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Multi-robot systems (MRSs) are valuable for tasks such as search and rescue due to their ability to coordinate over shared observations. A central challenge in these systems is aligning independently collected perception data across space and time– i.e., multi-robot data association. While recent advances in collaborative SLAM (C-SLAM), map merging, and inter-robot loop closure detection have significantly progressed the field, evaluation strategies still predominantly rely on splitting a single trajectory from single-robot SLAM datasets into multiple segments to simulate multiple robots. Without careful consideration to how a single trajectory is split, this approach will fail to capture realistic pose-dependent variation in observations of a scene inherent to multi-robot systems. To address this gap, we present CU-Multi, a multi-robot dataset collected over multiple days at two locations on the University of Colorado Boulder campus. Using a single robotic platform, we generate four synchronized runs with aligned start times and deliberate percentages of trajectory overlap. CU-Multi includes RGB-D, GPS with accurate geospatial heading, and semantically annotated LiDAR data. By introducing controlled variations in trajectory overlap and dense lidar annotations, CU-Multi offers a compelling alternative for evaluating methods in multi-robot data association.
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</p>
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</div>
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## Dataset
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## System and Sensors
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<div style="display: flex; margin-bottom: 20px;">
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<!-- Left side: two stacked images -->
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<div style="display: flex; margin-bottom: 20px; background-color:rgba(255, 255, 255, 0.90);">
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<div style="display: flex; flex-direction: column; align-items: center; margin-right: 15px;">
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<img src="/img/cumulti/huntie_sensors.png" alt="" style="margin-bottom: 10px;" width="400">
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<img src="/img/cumulti/main_image.png" alt="" width="400">
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</div>
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<!-- Right side: justified text -->
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<p style="text-align: justify; flex: 1;">
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We collected the CU-Multi Dataset in Boulder, Colorado at the CU Boulder campus. The CU-Multi dataset was collected using the AgileX Hunter SE platform modified with a custom-designed electronics housing (see Figure 2). Inside the housing, the system includes an Intel NUC i7 with 16 GB of RAM, a power distribution board, an Ouster interface module, and a 217 Wh battery. Externally, a mounting plate on the rear of the Hunter SE accommodates two u-blox ANN-MB-00 GNSS antennas, while a front-mounted plate holds a 64-beam Ouster LiDAR sensor, a RealSense D455 RGB-D camera, a Lord MicroStrain G7 IMU, and a Lord RTK cellular modem with an external antenna.
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</p>
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</div>
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<div style="display: flex; justify-content: center; background-color:rgba(255, 255, 255, 0.90);">
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<div>
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<table style="border-collapse: collapse; border: 2px solid black;">
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<tr>
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<th style="border: 1px solid black; padding: 8px;">Equipment</th>
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<th style="border: 1px solid black; padding: 8px;">Model Name</th>
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<th style="border: 1px solid black; padding: 8px;">Characteristics</th>
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<th style="border: 1px solid black; padding: 8px;">Resolution</th>
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<th style="border: 1px solid black; padding: 8px;">FoV</th>
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<th style="border: 1px solid black; padding: 8px;">Sensor Rate</th>
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</tr>
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<tr>
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<th style="border: 1px solid black; padding: 8px;"> LiDAR </th>
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<td style="border: 1px solid black; padding: 8px;"> Ouster OS-64 </td>
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<td style="border: 1px solid black; padding: 8px;"> 200 m range </td>
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<td style="border: 1px solid black; padding: 8px;"> 64v x 1028h </td>
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<td style="border: 1px solid black; padding: 8px;"> 45° x 360° </td>
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<td style="border: 1px solid black; padding: 8px;"> 20 Hz </td>
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</tr>
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<tr>
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<th style="border: 1px solid black; padding: 8px;"> RGB-D Camera </th>
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<td style="border: 1px solid black; padding: 8px;"> Intel Realsense D455 </td>
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<td style="border: 1px solid black; padding: 8px;"> RGB: Global Shutter </td>
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<td style="border: 1px solid black; padding: 8px;"> 1280 × 800 </td>
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<td style="border: 1px solid black; padding: 8px;">90° x 65° </td>
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<td style="border: 1px solid black; padding: 8px;"> 30 Hz </td>
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</tr>
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<tr>
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<th style="border: 1px solid black; padding: 8px;"> IMU</th>
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<td style="border: 1px solid black; padding: 8px;"> MicroStrain 3DM-GQ7-GNSS/INS </td>
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<td style="border: 1px solid black; padding: 8px;"> ±8 g </td>
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<td style="border: 1px solid black; padding: 8px;"> 300 dps </td>
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<td style="border: 1px solid black; padding: 8px;"> - </td>
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<td style="border: 1px solid black; padding: 8px;"> 400 Hz </td>
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</tr>
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<tr>
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<th style="border: 1px solid black; padding: 8px;"> Network Interface Modem </th>
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<td style="border: 1px solid black; padding: 8px;"> MicroStrain 3DM-RTK Modem </td>
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<td style="border: 1px solid black; padding: 8px;"> 2 cm, 0.1° accuracy </td>
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<td style="border: 1px solid black; padding: 8px;"> - </td>
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<td style="border: 1px solid black; padding: 8px;"> - </td>
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<td style="border: 1px solid black; padding: 8px;"> 2 Hz </td>
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</tr>
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<tr>
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<th style="border: 1px solid black; padding: 8px;"> GNSS Antennas </th>
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<td style="border: 1px solid black; padding: 8px;"> u-blox ANN-MB-00 </td>
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<td style="border: 1px solid black; padding: 8px;"> - </td>
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<td style="border: 1px solid black; padding: 8px;"> - </td>
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<td style="border: 1px solid black; padding: 8px;"> - </td>
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<td style="border: 1px solid black; padding: 8px;"> - </td>
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</tr>
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<tr>
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<th style="border: 1px solid black; padding: 8px;"> Main Computer </th>
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<td style="border: 1px solid black; padding: 8px;"> Intel NUC </td>
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<td style="border: 1px solid black; padding: 8px;"> Intel i7 CPU @ 3.20GHz, 16GB RAM </td>
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<td style="border: 1px solid black; padding: 8px;"> - </td>
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<td style="border: 1px solid black; padding: 8px;"> - </td>
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<td style="border: 1px solid black; padding: 8px;"> - </td>
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</tr>
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</table>
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<p style="text-align: center;"><strong>Table 1.</strong> <em>Hardware Specifications.</em></p>
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</div>
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</div>
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## Environments
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<div style="display: flex; background-color:rgba(255, 255, 255, 0.76); margin-bottom: 20px;">
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<div style="display: flex; flex-direction: column; align-items: center; margin-left: 15px; margin-right: 15px;">
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<img src="/img/cumulti/main_image.png" alt="" width="300">
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</div>
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<p style="text-align: justify; flex: 1;">
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We collected the CU-Multi Dataset in Boulder, Colorado at the CU Boulder campus. The CU-Multi dataset was collected using the AgileX Hunter SE platform modified with a custom-designed electronics housing (see Figure 2). Inside the housing, the system includes an Intel NUC i7 with 16 GB of RAM, a power distribution board, an Ouster interface module, and a 217 Wh battery. Externally, a mounting plate on the rear of the Hunter SE accommodates two u-blox ANN-MB-00 GNSS antennas, while a front-mounted plate holds a 64-beam Ouster LiDAR sensor, a RealSense D455 RGB-D camera, a Lord MicroStrain G7 IMU, and a Lord RTK cellular modem with an external antenna.
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</p>
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</div>
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### Main Campus Environment (*main_campus*)
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### Kittredge Loop Environment (*kittredge_loop*)
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<!-- <div style="display: flex; justify-content: center;">
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<div>
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<table style="border-collapse: collapse; border: 2px solid black;">
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<tr>
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<th style="border: 1px solid black; padding: 8px;">Environment</th>
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<th style="border: 1px solid black; padding: 8px;">Robot ID</th>
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<th style="border: 1px solid black; padding: 8px;">Total Path Length</th>
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<th style="border: 1px solid black; padding: 8px;"># Intra-robot loop closures</th>
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<th style="border: 1px solid black; padding: 8px;"># Inter-robot loop closures</th>
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</tr>
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<tr>
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<td style="border: 1px solid black; padding: 8px;" rowspan="4">Kittredge Loop</td>
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<td style="border: 1px solid black; padding: 8px;">robot1</td>
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<td style="border: 1px solid black; padding: 8px;">1136.41 m</td>
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<td style="border: 1px solid black; padding: 8px;">-</td>
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<td style="border: 1px solid black; padding: 8px;">-</td>
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</tr>
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<tr>
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<td style="border: 1px solid black; padding: 8px;">robot2</td>
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<td style="border: 1px solid black; padding: 8px;">1373.37 m</td>
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<td style="border: 1px solid black; padding: 8px;">-</td>
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<td style="border: 1px solid black; padding: 8px;">-</td>
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</tr>
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<tr>
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<td style="border: 1px solid black; padding: 8px;">robot3</td>
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<td style="border: 1px solid black; padding: 8px;">2792.06 m</td>
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<td style="border: 1px solid black; padding: 8px;">-</td>
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<td style="border: 1px solid black; padding: 8px;">-</td>
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</tr>
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<tr>
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<td style="border: 1px solid black; padding: 8px;">robot4</td>
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<td style="border: 1px solid black; padding: 8px;">4005.75 m</td>
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<td style="border: 1px solid black; padding: 8px;">-</td>
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<td style="border: 1px solid black; padding: 8px;">-</td>
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</tr>
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<tr>
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<td style="border: 1px solid black; padding: 8px;" rowspan="4">Main Campus</td>
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<td style="border: 1px solid black; padding: 8px;">robot1</td>
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<td style="border: 1px solid black; padding: 8px;">1295.96 m</td>
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<td style="border: 1px solid black; padding: 8px;">-</td>
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<td style="border: 1px solid black; padding: 8px;">-</td>
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</tr>
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<tr>
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<td style="border: 1px solid black; padding: 8px;">robot2</td>
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<td style="border: 1px solid black; padding: 8px;">1360.43 m</td>
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<td style="border: 1px solid black; padding: 8px;">-</td>
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<td style="border: 1px solid black; padding: 8px;">-</td>
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</tr>
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<tr>
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<td style="border: 1px solid black; padding: 8px;">robot3</td>
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<td style="border: 1px solid black; padding: 8px;">1816.76 m</td>
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<td style="border: 1px solid black; padding: 8px;">-</td>
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<td style="border: 1px solid black; padding: 8px;">-</td>
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</tr>
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<tr>
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<td style="border: 1px solid black; padding: 8px;">robot4</td>
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<td style="border: 1px solid black; padding: 8px;">2971.38 m</td>
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<td style="border: 1px solid black; padding: 8px;">-</td>
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<td style="border: 1px solid black; padding: 8px;">-</td>
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</tr>
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</table>
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<p style="text-align: center;"><strong>Table 1.</strong> <em>Table of intra-robot loop closures in different environments</em></p>
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</div>
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</div> -->
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<!-- <div style="text-align: center; margin-top: 20px;">
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<img src="/img/cumulti/main_image.png" alt="" style="display: inline-block; margin: 0 10px;" height="600">

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