add exp_collision

.gitattributes

@@ -58,3 +58,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+exp_collision/exp_collision.bag filter=lfs diff=lfs merge=lfs -text

exp_collision/README.md

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+This directory contains the file corresponding to the experiment validating the robustness of bnio against collisions.
+
+bnio_odometry.tum is the ".tum" file containing the 6DoF pose estimates from BNIO.
+
+groundtruth_odometry.tum is a ".tum" file containing the 6DoF groundtruth pose.
+
+All ".tum" files can be processed using the "EVO:Python package for the evaluation of odometry and SLAM" (https://github.com/MichaelGrupp/evo)
+
+The "images" directory contains the full sequence of images of the multi-resolution cilia (input to the BNNN) and a ".txt" file containing the image name and the corresponding timestamp.
+
+The "CSVs" directory contains the contents of the ".bag" to seperate ".csv" files corresponding to each ROS topic, alongside the barometric depth measurements and ground truth linear velocity.
+
+Note: Due to a constant time offset in the robot computer’s real-time clock, the UTC timestamps in the data correspond to November 2023, although the experiments were conducted between April and June 2025.

exp_collision/exp_collision.bag

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+version https://git-lfs.github.com/spec/v1
+oid sha256:de0801b0b1977cc04276dec7b43bab90d0fb42296ed68ba6d070a11a5e8d29c8
+size 16460409