Daejeon Highway Stereo Dataset

Citation Author(s):
Yoonjin
Hwang
Submitted by:
Yoonjin Hwang
Last updated:
Wed, 10/13/2021 - 21:17
DOI:
10.21227/th1w-mz49
Data Format:
rosbag; zip
License:
Creative Commons Attribution
456 Views
Categories:
Sensors
Sensors
Keywords:
stereo image; visual odometry; global navigation satellite system; global positioning system;
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Abstract 

This dataset includes highway driving scenes in Daejeon, South Korea.

  • Position, Velocity, and Attitude and Inertial Measurements in the perspective of vehicle body frame (obtained by high precision INS OxTS RT3100)
  • Stereo Images @20Hz from global shutter camera (FLIR blackfly-s)
  • Industrial Grade Inertial Measurements aligned with camera coordinate (xsens 670-g)
  • Consumer Grade GNSS (Ublox M8)

All data is formatted with ROS msgs. Please note that you might require additional ROS msgs definition for RT3100 and Ublox data, which can be obtained from ROS community.
 
Privacy: This dataset is for non-commercial use only. However, if you find yourself, your personal vehicle, or any belongings in the data, please contact us. Then we will immediately delete the corresponding parts from our storage.

Instructions: 

A sample matlab script to import rosbag into workspace is attatched.

If you have further questions, please contact via e-mail : yoonjinh@kaist.ac.kr

Comments

thanks

Submitted by Mahdi Sahlabadi on Wed, 10/09/2024 - 05:52

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