EHV-track
Contains total 8 datasets with 180 km of driving distance.
Each folder contains .csv files with:
- Velocity in m/s at 25 Hz(from vehicle ECU)
- Yaw-rate in rad/s at 25 Hz (from vehicle ECU)
- GPS Log from Ublox-7P at 1 Hz
- Post processed RTK-GNSS ground truth
The first column of the .csv files contains time-stamp of the recording platform (RTMaps) (GPS, yaw-rate and velocity share the same clock).
The clock of the PC is synchronized with the GNSS clock.
Description of column data for GNSS.csv (containing GNSS data):
|
RTMaps Clock |
Kernel Clock |
Lat |
Lon |
Alt |
Velocity |
Epx |
Epy |
Epv |
Visible Sats |
Heading |
|
11027105 |
1499168683 |
51.453179293 |
5.392311385 |
17.873 |
1.722 |
2.04 |
3.07 |
10.35 |
14 |
34.5926 |
Description of column data for vx.csv (containing velocity data):
|
RTMaps Clock |
Velocity |
|
836199914 |
5.76 |
Description of column data for psiD.csv (containing yawrate data):
|
RTMaps Clock |
Yaw-Rate |
|
3371949893 |
0.142 |
Robojeep
The Hague 1 (approx. 600 m)
Urban binocular visual-odometry recorded by TNO in the city of The Hague in the Netherlands. Three data sets are available with different starting positions (A,B,C). All data sets encompass a loop of approx. 600 meters, see aerial overlay on the right, and contain around 2500 stereo images (640X480 pixel). They are accompanied by calibration information (including the original calibration images) and DGPS (5 cm std). Some example images are shown above.
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The Hague 2 (approx. 800 m)
Urban binocular visual-odometry recorded by TNO in the city of The Hague in the Netherlands. This data set encompass a loop of approx. 800 meters, see aerial overlay on the right, and contains around 3000 stereo images (640X480 pixel). They are accompanied by calibration information (including the original calibration images) and DGPS (5 cm std). Some example images are shown above.
 |
The Hague 3 (approx. 5 km)
Urban binocular visual-odometry recorded by TNO in the city of The Hague in the Netherlands. This data set encompass a trajectory of approx. 5 km, see aerial overlay on the right, and contains around 10k stereo images (640X480 pixel). They are accompanied by calibration information (including the original calibration images) and DGPS (5 cm std). Some example images are shown above.
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