The dataset includes the following sequences:

• 01_forest – Closed loop, Forest trail, No wind, Daytime
• 02_forest – Closed loop, Forest trail, No wind, Daytime
• 03_green_meadow – Closed loop, Meadow, grass up to 30 cm, No wind, Daytime
• 04_green_meadow – Closed loop, Meadow, grass up to 30 cm, Mild wind, Daytime
• 05_road_asphalt – Closed loop, Asphalt road, No wind, Nighttime
• 06_plantation – Closed loop, Shrubland, Mild wind, Daytime
• 07_plantation – Closed loop, Asphalt road, No wind, Nighttime
• 08_plantation_water – Random movement, Sprinklers (water drops on camera lens), No wind, Nighttime
• 09_cattle_farm – Closed loop, Cattle farm, Mild wind, Daytime
• 10_cattle_farm – Closed loop, Cattle farm, Mild wind, Daytime
• 11_cattle_farm_feed_table – Closed loop, Cattle farm feed table, Mild wind, Daytime
• 12_cattle_farm_feed_table – Closed loop, Cattle farm feed table, Mild wind, Daytime
• 13_ditch – Closed loop, Sandy surface, Edge of ditch or drainage channel, No wind, Daytime
• 14_ditch – Closed loop, Sandy surface, Shore or bank, Strong wind, Daytime
• 15_young_pines – Closed loop, Sandy surface, Pine coppice, No wind, Daytime
• 16_winter_cereal_field – Closed loop, Winter wheat sowing, Mild wind, Daytime
• 17_winter_cereal_field – Closed loop, Winter wheat sowing, Mild wind, Daytime
• 18_winter_rapeseed_field – Closed loop, Winter rapeseed, Mild wind, Daytime
• 19_winter_rapeseed_field – Closed loop, Winter rapeseed, Mild wind, Daytime
• 20_field_with_a_cow – Closed loop, Cows tethered in pasture, Mild wind, Daytime
• 21_field_with_a_cow – Closed loop, Cows tethered in pasture, Mild wind, Daytime

Each sequence contains the following separately downloadable files:

• <..sequence_id..>_video.mp4 – provides an overview of the sequence data (for the DVS and RGB-D sensors).
• <..sequence_id..>_data.tar.gz – entire date sequence in raw data format (AEDAT2.0 - DVS, images - RGB-D, point clouds in pcd files - LIDAR, and IMU csv files with original sensor timestamps). Timestamp conversion formulas are available.
• <..sequence_id..>_rawcalib_data.tar.gz – recorded fragments that can be used to perform the calibration independently (intrinsic, extrinsic and time alignment).
• <..sequence_id..>_rosbags.tar.gz – main sequence in ROS bag format. All sensors timestamps are aligned with DVS with an accuracy of less than 1 ms.

The contents of each archive are described below..

Raw format data

The archive <..sequence_id..>_data.tar.gz contains the following files and folders:

• ./meta-data/ - all the useful information about the sequence
• ./meta-data/meta-data.md - detailed information about the sequence, sensors, files, and data formats
• ./meta-data/cad_model.pdf - sensors placement
• ./meta-data/<...>_timeconvs.json - coefficients for timestamp conversion formulas
• ./meta-data/ground-truth/ - movement ground-truth data, calculated using 3 different Lidar-SLAM algorithms (Cartographer, HDL-Graph, LeGo-LOAM)
• ./meta-data/calib-params/ - intrinsic and extrinsic calibration parameters
• ./recording/ - main sequence
• ./recording/dvs/ - DVS events and IMU data
• ./recording/lidar/ - Lidar point clouds and IMU data
• ./recording/realsense/ - Realsense camera RGB, Depth frames, and IMU data
• ./recording/sensorboard/ - environmental sensors data (temperature, humidity, air pressure)

Calibration data

The <..sequence_id..>_rawcalib_data.tar.gz archive contains the following files and folders:

• ./imu_alignments/ - IMU recordings of the platform lifting before and after the main sequence (can be used for custom timestamp alignment)
• ./solenoids/ - IMU recordings of the solenoid vibrations before and after the main sequence (can be used for custom timestamp alignment)
• ./lidar_rs/ - Lidar vs Realsense camera extrinsic calibration by showing both sensors a spherical object (ball)
• ./dvs_rs/ - DVS and Realsense camera intrinsic and extrinsic calibration frames (checkerboard pattern)

ROS Bag format data

There are six rosbag files for each scene, their contents are as follows:

• <..sequence_id..>_dvs.bag (topics: /dvs/camera_info, /dvs/events, /dvs/imu, and accordingly message types: sensor_msgs/CameraInfo, dvs_msgs/EventArray, sensor_msgs/Imu).
• <..sequence_id..>_lidar.bag (topics: /lidar/imu/acc, /lidar/imu/gyro, /lidar/pointcloud, and accordingly message types: sensor_msgs/Imu, sensor_msgs/Imu, sensor_msgs/PointCloud2).
• <..sequence_id..>_realsense.bag (topics: /realsense/camera_info, /realsense/depth, /realsense/imu/acc, /realsense/imu/gyro, /realsense/rgb, /tf, and accordingly message types: sensor_msgs/CameraInfo, sensor_msgs/Image, sensor_msgs/Imu, sensor_msgs/Imu, sensor_msgs/Image, tf2_msgs/TFMessage).
• <..sequence_id..>_sensorboard.bag (topics: /sensorboard/air_pressure, /sensorboard/relative_humidity, /sensorboard/temperature, and accordingly message types: sensor_msgs/FluidPressure, sensor_msgs/RelativeHumidity, sensor_msgs/Temperature).
• <..sequence_id..>_trajectories.bag (topics: /cartographer, /hdl, /lego_loam, and accordingly message types: geometry_msgs/PoseStamped, geometry_msgs/PoseStamped, geometry_msgs/PoseStamped).
• <..sequence_id..>_data_for_realsense_lidar_calibration.bag (topics: /lidar/pointcloud, /realsense/camera_info, /realsense/depth, /realsense/rgb, /tf, and accordingly message types: sensor_msgs/PointCloud2, sensor_msgs/CameraInfo, sensor_msgs/Image, sensor_msgs/Image, tf2_msgs/TFMessage).

Version history

22.06.2021.

• Realsense data now also contain depth png images with 16-bit depth, which are located in folder /recording/realsense/depth_native/
• Added data in rosbag format