List of Datasets

Automotive

Ford Highway Driving RTK Dataset

GNSS performance and vehicle localization

Automotive GNSS and a separate RT3000 reference from 27,500 km and 355 hours of mainly North American highway driving, distributed as 1 Hz CSV records.

Metadata: Partial Metadata needs review Released 2020

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

Website

Not reported

Code

Not reported

Supplementary

Not reported

Quick facts

Vehicle type
Automotive
Environment
Outdoor
Data origin
Real-world
Sensor count
1
Ground truth
Available
Calibration
Not reported
Annotations
Not reported

Sensor overview

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

Cameras

Not reported

IMUs

Not reported

GNSS

1 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 GNSS / INS Oxford Technical Solutions · RT3000 Not reported 1 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.
External
Accuracy notes
Per-sample position and attitude uncertainty fields are provided; RTK fixed is not maintained everywhere. No single accuracy or valid-reference fraction is established.
Reference notes
Separate reference INS combines two GPS/GLONASS L1/L2 receivers with a tactical-grade MEMS IMU, using Hexagon SmartNet RTK corrections via an Intuicom RTK Bridge-X modem. Released outputs include position, attitude, velocity, acceleration and angular rates. Original recording was 30 Hz; distributed fields are 1 Hz. OxTS frames originate at the rear axle; production positions refer to the ground centroid. D_Dist_m does not correct this offset.

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

The paper describes reference frames and differing reference points but supplies no numeric per-vehicle lever arms. Do not treat the supplied positional separation as calibrated GNSS error.

Known or intentional limitations

Reported constraints and characteristics to check before using the dataset.

Released reference fields are downsampled to 1 Hz rather than the original 30 Hz.

Reference positioning can drop from RTK fixed to SPS or no service under obstruction.

The release is highway-dominated; pseudorange and carrier phase are discussed as future additions.

The supplied inter-system positional difference is not corrected for reference-point offset.

Cameras

Not reported

IMUs

Not reported

GNSS

Production automotive GNSS

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

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
houts2020fordhdr

BibTeX

@article{houts2020fordhdr,
  title={Ford Highway Driving RTK Dataset: 30,000 km of North American Highways},
  author={Houts, Sarah E. and Pervez, Nahid and Ibrahim, Umair and Pandey, Gaurav and Reid, Tyler G. R.},
  year={2020},
  journal={arXiv preprint arXiv:2010.01774},
  url={https://arxiv.org/abs/2010.01774v1}
}

Dataset corrections

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