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arXiv · 2404.13166

FoMo: A Proposal for a Multi-Season Dataset for Robot Navigation in For\^et Montmorency

Matěj Boxan·Alexander Krawciw·Effie Daum·Xinyuan Qiao·Sven Lilge·Timothy D. Barfoot·François Pomerleau
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Abstract

In this paper, we propose the FoMo (For\^et Montmorency) dataset: a comprehensive, multi-season data collection. Located in the Montmorency Forest, Quebec, Canada, our dataset will capture a rich variety of sensory data over six distinct trajectories totaling 6 kilometers, repeated through different seasons to accumulate 42 kilometers of recorded data. The boreal forest environment increases the diversity of datasets for mobile robot navigation. This proposed dataset will feature a broad array of sensor modalities, including lidar, radar, and a navigation-grade Inertial Measurement Unit (IMU), against the backdrop of challenging boreal forest conditions. Notably, the FoMo dataset will be distinguished by its inclusion of seasonal variations, such as changes in tree canopy and snow depth up to 2 meters, presenting new challenges for robot navigation algorithms. Alongside, we will offer a centimeter-level accurate ground truth, obtained through Post Processed Kinematic (PPK) Global Navigation Satellite System (GNSS) correction, facilitating precise evaluation of odometry and localization algorithms. This work aims to spur advancements in autonomous navigation, enabling the development of robust algorithms capable of handling the dynamic, unstructured environments characteristic of boreal forests. With a public odometry and localization leaderboard and a dedicated software suite, we invite the robotics community to engage with the FoMo dataset by exploring new frontiers in robot navigation under extreme environmental variations. We seek feedback from the community based on this proposal to make the dataset as useful as possible. For further details and supplementary materials, please visit https://norlab-ulaval.github.io/FoMo-website/.

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Matěj Boxan, Alexander Krawciw, Effie Daum, Xinyuan Qiao, Sven Lilge, Timothy D. Barfoot, François Pomerleau. 2024-04-19. FoMo: A Proposal for a Multi-Season Dataset for Robot Navigation in For\^et Montmorency. https://arxiv.org/abs/2404.13166

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