List of Datasets

Automotive

comma2k19

Commodity-sensor GNSS fusion and highway mapping

Repeated highway commute clips include camera/inertial/raw GNSS/CAN data and derived global camera-pose estimates.

Metadata: Complete Metadata source documented Released 2018

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

Supplementary

Not reported

Quick facts

Vehicle type
Automotive
Environment
Outdoor
Data origin
Real-world
Sensor count
6
Ground truth
Available
Calibration
Not reported
Annotations
Not reported

Sensor overview

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

Cameras

1 reported

IMUs

1 reported

GNSS

2 reported

LiDAR

Not reported

Radar

Available; count not reported

Magnetometers

1 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 Mesh3D tight GNSS/INS/vision MSCKF 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.
Derived
Accuracy notes
Proxy RMSE varies by Civic/RAV4 and axis; retain Table I values without aggregating.
Reference notes
Derived camera pose and velocity reuse GNSS/inertial/vision inputs. The release stores pose alongside video-frame timestamps; this does not establish an independent native reference cadence.

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

Not reported

Known or intentional limitations

Reported constraints and characteristics to check before using the dataset.

The 2,019 one-minute segments repeatedly cover a roughly 20 km highway section. They are sampled clips rather than 2,019 independent full drives; nominal clip duration is not unique geographic coverage.

Mesh3D poses reuse recorded GNSS, inertial and visual data. Road-height consistency and feature reprojection are quality proxies, not externally measured ground truth.

Honda Civic and Toyota RAV4 installations have different antenna reception and proxy errors. Camera geometry/calibration, precise clock alignment and independent reference error remain unknown.

The maintained manifest lists HEVC video despite the paper H264 description. Native reference cadence and complete-release image dimensions/modality remain unverified.

Parsed CAN radar and wheel-speed products are distributed, but exact physical radar/encoder counts and raw ADC streams are not established. GNSS bearing is not an independent platform-heading reference.

Cameras

Camera 1

Model
Sony IMX298
Setup
Mono
Count
1
Effective cameras
1
Modality
Not Reported
Resolution
Not reported
Rate
20 Hz
Shutter
Not Reported
Lens type
Not Reported
HFOV
Not reported
VFOV
Not reported
Notes
The maintained distribution lists video.hevc, while the paper describes H264 source video. Image dimensions, modality and shutter remain unverified for the complete release.

IMUs

EON integrated IMU

Model
LSM6DS3
Count
1
Accel / gyro
100 / 100 Hz

GNSS

u-blox M8

Model or name
u-blox M8
Count
1
Rate
10 Hz
GNSS type
STANDARD
Position output
Available
Velocity output
Available
Heading output
Not reported

WGR7640

Model or name
WGR7640
Count
1
Rate
1 Hz
GNSS type
STANDARD
Position output
Available
Velocity output
Available
Heading output
Not reported

LiDAR

Not reported

Radar

Radar 1

Count
Not reported
Released data
Tracked objects
Frame rate
Not reported
Doppler velocity
Not reported
Elevation angle
Not reported
Configured range
Not reported
Field of view
Not reported
Notes
Released parsed vehicle-CAN radar tracks contain relative distances, speed and track addresses. Physical unit count/model and raw ADC distribution are not established.

Additional sensors

Odometry

Name
Vehicle CAN motion state
Count
1
Notes
Parsed car speed, steering angle and four wheel-speed channels are released; four output channels do not establish an inventory of four independent encoder devices.

Magnetometer

Model
AK09911
Count
1
Rate
10 Hz

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
schafer2018comma2k19

BibTeX

@misc{schafer2018comma2k19,
  author = {{Harald Schäfer} and {Eder Santana} and {Andrew Haden} and {Riccardo Biasini}},
  title = {A Commute in Data: The comma2k19 Dataset},
  year = {2018},
  eprint = {1812.05752},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/1812.05752v1}
}

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