1 year, 1000 km: The Oxford RobotCar dataset

被引：957

作者：

Maddern, Will ^{[1
]}

Pascoe, Geoffrey ^{[1
]}

Linegar, Chris ^{[1
]}

Newman, Paul ^{[1
]}

机构：

[1] Univ Oxford, Oxford Robot Inst, Parks Rd, Oxford OX1 3PJ, England

来源：

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH | 2017年 / 36卷 / 01期

基金：

英国工程与自然科学研究理事会;

关键词：

Dataset; autonomous vehicles; long-term autonomy; mobile robotics; computer vision; cameras; LIDAR; GPS; stereo; localization; mapping; SLAM; RobotCar; VISION; STEREO; LIDAR;

D O I：

10.1177/0278364916679498

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

We present a challenging new dataset for autonomous driving: the Oxford RobotCar Dataset. Over the period of May 2014 to December 2015 we traversed a route through central Oxford twice a week on average using the Oxford RobotCar platform, an autonomous Nissan LEAF. This resulted in over 1000 km of recorded driving with almost 20 million images collected from 6 cameras mounted to the vehicle, along with LIDAR, GPS and INS ground truth. Data was collected in all weather conditions, including heavy rain, night, direct sunlight and snow. Road and building works over the period of a year significantly changed sections of the route from the beginning to the end of data collection. By frequently traversing the same route over the period of a year we enable research investigating long-term localization and mapping for autonomous vehicles in real-world, dynamic urban environments. The full dataset is available for download at: http://robotcar-dataset.robots.ox.ac.uk

引用

页码：3 / 15

页数：13