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开源软件名称(OpenSource Name):weisongwen/UrbanLoco开源软件地址(OpenSource Url):https://github.com/weisongwen/UrbanLoco开源编程语言(OpenSource Language):Python 100.0%开源软件介绍(OpenSource Introduction):UrbanLocoUrbanLoco: A Full Sensor Suite Dataset for Mapping and Localization in Urban ScenesAbstractMapping 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. Keywords: Mpapping, Localization, Urban Areas, Full Sensor Suit, Hong Kong, San Francisco Important Notes:
Contact Authors:
Related Papers :
if you use UrbanLoco for your academic research, please cite our paper. Work related to urbanLoco Dataset :
1. California Dataset1.1 Sensor SetupsThe platform for data collection in Hong Kong is a Honda Fit. The platform is equipped with the following sensors:
Intrinsic and Extrinsic Parameters, ROSBAG InformationThe coordinates transformation between multiple sensors, and intrinsic parameters of camera can be found via Intrinsic and Extrinsic Parameters.
1.2. Dataset 1: CABayBridge20190828151211Brief: Dataset CABayBridge20190828151211 is collected near Bay Bridge of San Francisco. Some key features are as follows:
1.3. Dataset 2: CAMarketStreet20190828155828Brief: Dataset CAMarketStreet20190828155828 is collected near market street of San Francisco. Some key features are as follows:
1.4. Dataset 3: CARussianHill20190828173350Brief: Dataset CARussianHill20190828173350 is collected near Bay Bridge of San Francisco. Some key features are as follows:
1.5. Dataset 4: CAChinaTown20190828180248Brief: Dataset CAChinaTown20190828180248 is collected near a China Town of San Francisco. Some key features are as follows:
1.6. Dataset 5: CAColiTower20190828184706Brief: Dataset CAColiTower20190828184706 is collected near Coli Tower of San Francisco. Some key features are as follows:
1.7. Dataset 6: CALombardStreet20190828190411Brief: Dataset CALombardStreet20190828190411 is collected near Lombard street of San Francisco. Some key features are as follows:
1.8. Dataset 7: CAGoldenBridge20190828191451Brief: Dataset CAGoldenBridge20190828191451 is collected near Golden Bridge of San Francisco. Some key features are as follows:
2. Hong Kong Dataset2.1 Sensor SetupsThe platform for data collection in Hong Kong is a Honda Fit. The platform is equipped with the following sensors:
Intrinsic and Extrinsic Parameters, ROSBAG InformationThe coordinates transformation between multiple sensors, and intrinsic measurements of camera can be found via Extrinsic Parameters and Intrinsic Parameters of Camera. The fish-eye camera intrinsic parameters can be found through here.
2.2. Dataset 1: HK-Data20190426-2Brief: Dataset HK-Data20190426-2 is collected near Whampooa of Hong Kong. Some key features are as follows:
2.3. Dataset 2: HK-Data20190426-1Brief: Dataset HK-Data20190426-1 is collected near Ma Tau Kok of Hong Kong. Some key features are as follows:
2.4. Dataset 3: HK-Data20190316-2Brief: Dataset HK-Data20190316-2 is collected near Ma Tau Kok of Hong Kong. Some key features are as follows:
2.5. Dataset 4: HK-Data20190316-1Brief: Dataset HK-Data20190316-1 is collected near Ma Tau Kok of Hong Kong. Some key features are as follows:
2.6. Dataset 5: HK-Data20190117Brief: Dataset HK-Data20190117 is collected near Ma Tau Kok of Hong Kong. Some key features are as follows:
3. Easy Use Scripts3.1 Extract ground truth and u-blox solution to .kml file
cd ~/catkin_ws/src
git clone https://github.com/weisongwen/UrbanLoco
cd ../
catkin_make
source ~/catkin_ws/devel/setup.bash
3.2 Extract the raw GNSS measurements from |
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