UGV, Automotive
DIDLM
Multi-sensor SLAM in adverse conditions
Ground-robot and vehicle recordings combine RGB, stereo depth, infrared, LiDAR, IMU and radar through rain, snow, darkness and rough roads.
Access links
Primary places to inspect, download, read about, or reproduce the dataset.
Quick facts
- Vehicle type
- UGV, Automotive
- Environment
- Outdoor
- Data origin
- Real-world
- Sensor count
- 4
- Ground truth
- Available
- Calibration
- Parameters Only
- Annotations
- Not reported
Sensor overview
High-level sensor availability before the detailed sensor records below.
Ground truth
Reference scope, method, rate, coverage, and provenance.
| Scope | Method | Reference system | Count | Rate | Coverage |
Reference provenance
|
|---|---|---|---|---|---|---|
| 6DoF | GNSS / INS | wheeltec GPS/INS · DETA100R | Not reported | 200 Hz | Unknown |
Reference provenance
External
|
|
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Calibration and synchronization
Reported calibration level, reproducibility signals, and supporting notes.
- Level
- Parameters Only
- Processed parameters
- Available
- Raw calibration data
- Not reported
- Calibration targets
- Checkerboards, including an electrified metal board for infrared
Parameters only
Processed calibration parameters are reported, but raw calibration data is not reported.
Notes
Intrinsics cover optical sensors and IMU; extrinsics use LiDAR as reference. Camera/IMU uses Kalibr and VINS-Mono refinement; radar/LiDAR uses targetless ICP. Calibration errors are not trajectory-reference accuracy.
Known or intentional limitations
Reported constraints and characteristics to check before using the dataset.
Camera quality varies by sequence with low light, vibration, rain and snow; consult the published image-quality list.
Aggregate distance and duration in Table IV disagree with sums of its rows.
Cameras
oak-d
- Model
- OAK-D
- Setup
- Multi Camera
- Count
- 1
- Effective cameras
- 1
- Modality
- Rgbd
- Resolution
- Not reported
- Rate
- 30 Hz
- Shutter
- Not Reported
- Lens type
- Not Reported
- HFOV
- Not reported
- VFOV
- Not reported
- Notes
- One OAK-D system provides RGB, left/right images, depth and point clouds. Table II: RGB Luxonis IMX378 1920x1080; stereo OV9282 640x400, baseline 0.1136 m. Resolution varies by channel; depth is not independent ground truth.
infrared
- Model
- InfiRay AT20
- Setup
- Mono
- Count
- 1
- Effective cameras
- 1
- Modality
- Thermal
- Resolution
- 1024 x 768
- Rate
- 25 Hz
- Shutter
- Not Reported
- Lens type
- Not Reported
- HFOV
- Not reported
- VFOV
- Not reported
- Notes
- Thermal camera uses an electrified metal checkerboard for calibration.
IMUs
Livox-integrated IMU
- Model
- BMI088
- Count
- 1
- Accel / gyro
- Not reported
GNSS
Not reported
LiDAR
Livox Horizon
- Model or name
- Livox Horizon
- Count
- 1
- Dimensions
- 3
- Rate
- 10 Hz
- Channels
- Not reported
- Range
- Not reported
Radar
Continental ARS548
- Count
- Not reported
- Released data
- Point detections / point clouds
- Frame rate
- 20 Hz
- Doppler velocity
- Not reported
- Elevation angle
- Not reported
- Configured range
- Not reported
- Field of view
- Not reported
- File format
- PCD
- Notes
- Table III also lists detectionlist and objectList topics. Table II device range/FOV specifications are not treated as configured release limits or proof of released Doppler channels.
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.
Not reported
Dataset corrections
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