Boreas: A multi-season autonomous driving dataset

IF 7.5 1区计算机科学 Q1 ROBOTICS

International Journal of Robotics Research Pub Date : 2022-03-18 DOI:10.1177/02783649231160195

Keenan Burnett, David J. Yoon, Yuchen Wu, A. Z. Li, Haowei Zhang, Shichen Lu, Jingxing Qian, Wei-Kang Tseng, A. Lambert, K. Leung, Angela P. Schoellig, T. Barfoot

引用次数: 43

Abstract

The Boreas dataset was collected by driving a repeated route over the course of 1 year, resulting in stark seasonal variations and adverse weather conditions such as rain and falling snow. In total, the Boreas dataset includes over 350 km of driving data featuring a 128-channel Velodyne Alpha-Prime lidar, a 360° Navtech CIR304-H scanning radar, a 5MP FLIR Blackfly S camera, and centimetre-accurate post-processed ground truth poses. Our dataset will support live leaderboards for odometry, metric localization, and 3D object detection. The dataset and development kit are available at boreas.utias.utoronto.ca.

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Boreas:多季节自动驾驶数据集

Boreas的数据集是通过在一年的时间里沿着一条重复的路线行驶而收集的，这导致了明显的季节变化和恶劣的天气条件，比如下雨和下雪。总的来说，Boreas数据集包括超过350公里的驾驶数据，其中包括128通道Velodyne Alpha-Prime激光雷达，360°Navtech CIR304-H扫描雷达，500万FLIR Blackfly S摄像头以及厘米级精度的后处理地面真实姿势。我们的数据集将支持里程计、度量定位和3D物体检测的实时排行榜。数据集和开发工具包可在borase .utias.utoronto.ca获得。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

International Journal of Robotics Research 工程技术-机器人学

CiteScore

22.20

自引率

0.00%

发文量

审稿时长

6-12 weeks

期刊介绍： The International Journal of Robotics Research (IJRR) has been a leading peer-reviewed publication in the field for over two decades. It holds the distinction of being the first scholarly journal dedicated to robotics research. IJRR presents cutting-edge and thought-provoking original research papers, articles, and reviews that delve into groundbreaking trends, technical advancements, and theoretical developments in robotics. Renowned scholars and practitioners contribute to its content, offering their expertise and insights. This journal covers a wide range of topics, going beyond narrow technical advancements to encompass various aspects of robotics. The primary aim of IJRR is to publish work that has lasting value for the scientific and technological advancement of the field. Only original, robust, and practical research that can serve as a foundation for further progress is considered for publication. The focus is on producing content that will remain valuable and relevant over time. In summary, IJRR stands as a prestigious publication that drives innovation and knowledge in robotics research.