README

This repo provides data for the DARPA Subterranean Challenge Tunnel Circuit, including:

• ground truth data for Artifact types and locations

• point cloud scans of the Experimental and Safety Research mines/courses at NIOSH in Pittsburgh, Pennsylvania

• information about the topological network structure of the course (see network directory)

Note: Urban Circuit ground truth is available in the following repository: https://bitbucket.org/subtchallenge/urban_ground_truth/src/master/

Files

• Tunnel_Artifact_Ground_Truth.xlsx -- Spreadsheet listing each Artifact; its type; and x,y,z location in the relevant DARPA coordinate frame for each course (Experimental / Safety Research) and configuration (A / B).

• Tunnel_Artifact_Map.pdf -- Pdf format map showing approximate Artifact locations within each course.

  • Notes:
    • Numbers next to yellow star icons on the map correspond to "Location #" in the Tunnel_Artifact_Ground_Truth.xlsx file.
    • Map geometry, blockages, and relative dimensions are approximate.
    • Tunnel blockages and other course configurations are notionally represented in this map and are not necessarily indicative of the actual configuration.

• Tunnel_Fiducials_Ground_Truth.xlsx -- Spreadsheet listing reference frame fiducials for each course and a transformation matrix for each that approximately aligns the DARPA frame with UTM.

• Tunnel_Circuit_LowRes_Scan_EX_Frame.pcd -- Point cloud of the EX and SR courses, defined in the DARPA Cartesian coordinate frame for the Experimental course.

• network -- Directory containing course topology and description.

Course Visualization in RViz

The two courses may be visualized as point clouds with artifact markers using ROS and RViz. This package depends on ROS and the pcl_ros package to build.

To visualize the point clouds and artifact locations, run roslaunch tunnel_ground_truth view.launch. Pass with arguments, e.g., course:=ex config:=a to visualize artifact locations for a particular course and configuration. Course may be ex or sr. Config may be a or b.

Note on Coordinate Transforms

Surveyed scan data is provided in a single file for both courses. When using the view.launch file, the point cloud is provided in the ex coordinate frame with transformations between ex, sr, and utm frames provided on the /tf_static ROS topic. These coordinate frames are defined as follows:

• ex = the DARPA Cartesian coordinate frame for the Experimental course

• sr = the DARPA Cartesian coordinate frame for the Safety Research course

• utm = a Cartesian coordinate frame, defined by UTM zone 17N

Links

• Point Cloud Flythrough

  • Experimental: https://www.youtube.com/watch?v=VY4brRg3ifs
  • Safety Research: https://www.youtube.com/watch?v=-qqD243S6RM

• Matterport Viewer:

  • Experimental: https://my.matterport.com/show/?m=pAG7SMh2aQg
  • Safety Research: https://my.matterport.com/show/?m=m24cuNRitbF

• Matterport Files:

  • Experimental: https://subt-challenge.s3.amazonaws.com/tunnel_circuit/Tunnel_Circuit_Matterport_EX_Course.zip
  • Safety Research: https://subt-challenge.s3.amazonaws.com/tunnel_circuit/Tunnel_Circuit_Matterport_SR_Course.zip

• Environment Preview: https://www.youtube.com/watch?v=LAziR-R-07c

• High-resolution and Medium-resolution Course Point Clouds

  • https://subt-data.s3.amazonaws.com/tunnel_scans/Tunnel_Circuit_FullRes_Scan_EX_Frame.las (20GB)
  • https://subt-data.s3.amazonaws.com/tunnel_scans/Tunnel_Circuit_MediumRes_Scan_EX_Frame.las (10GB)

Contact Information

If you have any questions or comments about this repository, please contact:

• Ryan Halterman - ryhalt@spawar.navy.mil
• Angela Maio - angela.c.maio.civ@mail.mil
• SubT Challenge Mailbox - SubTChallenge@darpa.mil