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 |
EHV-ROAD
The data sets as discussed in my ITSC 2014, ITSC 2015 and EI 2017 publications are available via the request form below. They consist of 74, 114, and 265 RGB Stereo camera sequences, respectively, recorded from within a car moving through everyday traffic in and around Eindhoven (the Netherlands). The last frame of each sequence comes with an annotated ground truth of the road area. The figure shows downsized examples.
You can contact W.P. Sanberg (w.p.sanberg 'at' tue.nl) if you are curious or have any questions regarding this work.
License / Citation
EHV-road 14, 15 and 17 W.P. Sanberg are licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.
This means that you must attribute the work in the manner specified by the authors, you may not use this work for commercial purposes and if you alter, transform, or build upon this work, you may distribute the resulting work only under the same license. Contact me to discuss permissions beyond the scope of this license.
If you use this data, please cite the corresponding paper:@INPROCEEDINGS{Sanberg2014ITSC,
author = {Willem P. Sanberg and G. Dubbelman and Peter H.N. de With},
title = {Extending the Stixel World with Online Self-Supervised Color Modeling for Road-Versus-Obstacle Segmentation},
booktitle = {IEEE Int. Conf. on Intelligent Transportation Systems (ITSC)},
pages = {1400--1407},
year = {2014},
doi = {10.1109/ITSC.2014.6957883} }
@INPROCEEDINGS{Sanberg2015ITSC,
author = {Willem P. Sanberg and G. Dubbelman and Peter H.N. de With},
title = {Color-based Free-Space Segmentation using Online Disparity-supervised Learning},
booktitle = {IEEE Int. Conf. on Intelligent Transportation Systems (ITSC)},
pages = {906--912},
year = {2015},
doi = {10.1109/ITSC.2015.152} }
@INPROCEEDINGS{Sanberg2017EI,
author = {Willem P. Sanberg and G. Dubbelman and Peter H.N. de With},
title = {Free-Space Detection with Self-Supervised and Online Trained Fully Convolutional Networks},
booktitle = {IS&T Electronic Imaging - Autonomous Vehicles and Machines},
pages = (54--61),
year = {2017},
doi = {10.2352/ISSN.2470-1173.2017.19.AVM-021}}
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.
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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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