List of Datasets

Automotive

Boreas Road Trip

Odometry, mapping and metric localization

Repeated driving over nine diverse road routes, with camera, spinning radar, lidar, inertial and wheel measurements; Doppler FMCW lidar covers 31 of 60 sequences.

Metadata: Complete Metadata needs review

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

Download

Not reported

Code

Not reported

Supplementary

Not reported

Quick facts

Vehicle type
Automotive
Environment
Outdoor
Data origin
Real-world
Sensor count
8
Ground truth
Available
Calibration
Parameters Only
Annotations
Not reported

Sensor overview

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

Cameras

1 reported

IMUs

3 reported

GNSS

Not reported

LiDAR

2 reported

Radar

1 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 GNSS / INS Applanix · POS LV 220 Not reported 200 Hz 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
Route-dependent per-axis repeatability bounds are 0.80 m urban, 0.40 m forest, 0.15 m tunnel and 0.03 m for the remaining routes; these are not uniform independently validated RMS specifications. Local odometry reference accuracy is expected to remain centimetric.
Reference notes
POSPac RTK-corrected batch fusion of GPS, internal IMU and wheel encoder; pose and velocity are distributed at 200 Hz and interpolated into sensor frames at measurement timestamps. Applanix IMU and encoder data are correlated with this reference. Urban routes are omitted from the authors localization benchmark.

Calibration and synchronization

Reported calibration level, reproducibility signals, and supporting notes.

Level
Parameters Only
Processed parameters
Available
Raw calibration data
Not reported
Calibration targets
Not reported

Parameters only

Processed calibration parameters are reported, but raw calibration data is not reported.

Notes

Intrinsics and extrinsics are supplied. Calibration uses checkerboards, static captures and two hold-out bookend runs. Some weakly observable components use CAD or hand measurements and fixed roll/pitch; full raw calibration-data release is not established.

Known or intentional limitations

Reported constraints and characteristics to check before using the dataset.

Aeva lidar and its integrated IMU cover only 31 of 60 sequences.

DMU41 raw stream has rare dropouts up to 0.4 seconds; its interpolated stream is a separate product.

Ground-truth consistency degrades in urban canyons, forest routes and tunnels; independent evaluation should avoid Applanix IMU and encoder inputs.

Velodyne beam 69 is removed from saved scans.

Cameras

front-camera

Model
FLIR Blackfly S BFS-U3-51S5C
Setup
Mono
Count
1
Effective cameras
1
Modality
Not Reported
Resolution
2448 x 2048
Rate
10 Hz
Shutter
Not Reported
Lens type
Not Reported
HFOV
81 deg
VFOV
71 deg
Notes
PNG images timestamped at mid-exposure; released images are radially undistorted.

IMUs

Stand-alone IMU

Model
Silicon Sensing DMU41
Count
1
Accel / gyro
200.2 / 200.2 Hz

Aeva Aeries II integrated IMU

Model
InvenSense IAM-20680HP
Count
1
Accel / gyro
100 / 100 Hz

Applanix POS LV integrated IMU

Model
Not reported
Count
1
Accel / gyro
Not reported

GNSS

Not reported

LiDAR

Velodyne Alpha-Prime

Model or name
Velodyne Alpha-Prime
Count
1
Dimensions
3
Rate
10 Hz
Channels
128
Range
245 m

Aeva Aeries II

Model or name
Aeva Aeries II
Count
1
Dimensions
3
Rate
10 Hz
Channels
Not reported
Range
500 m

Radar

Navtech RAS6

Count
1
Released data
Scanning power images
Frame rate
4 Hz
Doppler velocity
Not reported
Elevation angle
Not reported
Configured range
300 m
Field of view
360° H (per radar)
File format
PNG
Notes
Polar intensity images have 400 azimuths and 6859 range/metadata bins. Chirp direction metadata supports Doppler velocity extraction; directly stored velocity is not asserted. Range offset of -0.31 m and Doppler beta are supplied separately; offset has not been applied.

Pitot tube

Not reported

Additional sensors

Wheel encoder

Model
Dynapar HS35R
Count
1
Notes
Rear left incremental optical encoder, 1024 pulses per revolution; dmi.csv contains GPS time and pulse count. Also contributes to reference generation and its calibration uses reference velocity.

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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