1 year, 1000 km: The Oxford RobotCar dataset

作者：Will Maddern, Geoffrey Pascoe, Chris Linegar, Paul Newman · 发表于：The International Journal of Robotics Research · 年份：2016 · DOI：10.1177/0278364916679498 · 被引用次数：1653 · 研究领域：Robotics and Sensor-Based Localization、Advanced Neural Network Applications、Remote Sensing and LiDAR Applications

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