Computer Science > Robotics
[Submitted on 19 Dec 2019 (v1), last revised 3 Apr 2020 (this version, v2)]
Title:UrbanLoco: A Full Sensor Suite Dataset for Mapping and Localization in Urban Scenes
View PDFAbstract:Mapping and localization is a critical module of autonomous driving, and significant achievements have been reached in this field. Beyond Global Navigation Satellite System (GNSS), research in point cloud registration, visual feature matching, and inertia navigation has greatly enhanced the accuracy and robustness of mapping and localization in different scenarios. However, highly urbanized scenes are still challenging: LIDAR- and camera-based methods perform poorly with numerous dynamic objects; the GNSS-based solutions experience signal loss and multipath problems; the inertia measurement units (IMU) suffer from drifting. Unfortunately, current public datasets either do not adequately address this urban challenge or do not provide enough sensor information related to mapping and localization. Here we present UrbanLoco: a mapping/localization dataset collected in highly-urbanized environments with a full sensor-suite. The dataset includes 13 trajectories collected in San Francisco and Hong Kong, covering a total length of over 40 kilometers. Our dataset includes a wide variety of urban terrains: urban canyons, bridges, tunnels, sharp turns, etc. More importantly, our dataset includes information from LIDAR, cameras, IMU, and GNSS receivers. Now the dataset is publicly available through the link in the footnote. Dataset Link: this https URL.
Submission history
From: Yiyang Zhou [view email][v1] Thu, 19 Dec 2019 19:31:07 UTC (6,908 KB)
[v2] Fri, 3 Apr 2020 02:42:27 UTC (6,909 KB)
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