List of Datasets

Automotive

4Seasons

Multi-weather SLAM and long-term visual localization

Repeated automotive stereo-inertial traversals across seasons, weather and lighting, with globally optimized VIO/RTK-GNSS camera reference poses.

Metadata: Complete Metadata needs review

Primary places to inspect, download, read about, or reproduce the dataset.

Download

Not reported

Paper

Not reported

Code

Not reported

Supplementary

Not reported

Quick facts

Vehicle type
Automotive
Environment
Indoor, Outdoor
Data origin
Real-world
Sensor count
3
Ground truth
Available
Calibration
Not reported
Annotations
Not reported

Sensor overview

High-level sensor availability before the detailed sensor records below.

Cameras

2 reported

IMUs

1 reported

GNSS

Not reported

LiDAR

Not reported

Radar

Not reported

Pitot tube

Not reported

Magnetometers

Not reported

Barometers

Not reported

UWB

Not reported

Ground truth

Reference scope, method, rate, coverage, and provenance.

Scope Method Reference system Count Rate Coverage Reference provenance
External
Measured using equipment independent of the platform’s normal onboard sensor pipeline.
Derived
Computed primarily from the dataset’s own recorded sensors.
Hybrid
Combines independent reference equipment with onboard measurements.
6DoF Other Stereo-inertial and RTK-GNSS fusion · Septentrio mosaic-X5 Not reported Not reported Unknown Reference provenance
External
Measured using equipment independent of the platform’s normal onboard sensor pipeline.
Derived
Computed primarily from the dataset’s own recorded sensors.
Hybrid
Combines independent reference equipment with onboard measurements.
Hybrid
Accuracy notes
Up-to-centimeter accuracy is conditional on GNSS quality. Only RTK measurements with reported standard deviation below 0.01 m are considered accurate; no particular accuracy is guaranteed without corresponding RTK.
Reference notes
One reference product combines stereo-inertial relative poses and RTK-GNSS constraints through global pose-graph optimization. Generated 3D models are also provided.

Calibration and synchronization

Reported calibration level, reproducibility signals, and supporting notes.

Level
Not reported
Processed parameters
Not reported
Raw calibration data
Not reported
Calibration targets
Not reported

Calibration data

Calibration reproducibility details are not reported.

Notes

Customized Kalibr calibrates stereo intrinsics/extrinsics and IMU extrinsics/time alignment. Cameras use Kannala-Brandt; each sequence undergoes an epipolar consistency check. Antenna translation is measured manually. Release coverage is unspecified.

Known or intentional limitations

Reported constraints and characteristics to check before using the dataset.

Not reported

Cameras

stereo

Model
Basler acA2040-35gm
Setup
Stereo
Count
1
Effective cameras
2
Modality
Grayscale
Resolution
800 x 400
Rate
30 Hz
Shutter
Global
Lens type
Not Reported
HFOV
77 deg
VFOV
43 deg
Notes
Stereo baseline 30 cm; binned and cropped imagery; approximate field of view; per-frame exposure times provided.

IMUs

Stereo-inertial rig IMU

Model
Analog Devices ADIS16465
Count
1
Accel / gyro
Not reported

GNSS

Not reported

LiDAR

Not reported

Radar

Not reported

Pitot tube

Not reported

Additional sensors

Not reported

Annotations

Reported annotation availability and task support.

Availability
Not reported
Format
Not reported
Class count
Not reported
Semantic segmentation Not reported
Instance segmentation Not reported
Object detection Not reported
Optical flow Not reported
Depth ground truth Not reported

Citation

Citation key and BibTeX kept at the end of the page for reference.

Citation key
Not reported

BibTeX

Not reported

Dataset corrections

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