A High-Rate, Heterogeneous Data Set from the Darpa Urban Challenge
Author(s)Huang, Albert S.; Olson, Edwin B.; Antone, Matthew; Fletcher, Luke Sebastian; Moore, David C.; Teller, Seth; Leonard, John Joseph; ... Show more Show less
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This paper describes a data set collected by MIT’s autonomous vehicle Talos during the 2007 DARPA Urban Challenge. Data from a high-precision navigation system, five cameras, 12 SICK planar laser range scanners, and a Velodyne high-density laser range scanner were synchronized and logged to disk for 90 km of travel. In addition to documenting a number of large loop closures useful for developing mapping and localization algorithms, this data set also records the first robotic traffic jam and two autonomous vehicle collisions. It is our hope that this data set will be useful to the autonomous vehicle community, especially those developing robotic perception capabilities.
DepartmentMassachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory; Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science; Massachusetts Institute of Technology. Department of Mechanical Engineering
International Journal of Robotics Research
Huang, A. S. et al. “A High-rate, Heterogeneous Data Set From The DARPA Urban Challenge.” The International Journal of Robotics Research 29.13 (2010): 1595–1601.
Author's final manuscript