List of Datasets

UGV

GO: The Great Outdoors

Multimodal off-road perception and localization

Five robot routes through forest, trails and gravel, with stereo and rear imagery, thermal, LiDAR, radar, IMU, GPS reference trajectories and semantic image labels.

Metadata: Complete Metadata needs review

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

Code

Not reported

Supplementary

Not reported

Quick facts

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

Sensor overview

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

Cameras

4 reported

IMUs

1 reported

GNSS

Not reported

LiDAR

1 reported

Radar

Available; count 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.
Not reported Not reported Not reported 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.
Unknown
Accuracy notes
Setup lists Sparkfun RTK Facet at 4 Hz, a maximum accuracy of 1.4 cm, and NTRIP RTCM corrections. These are not verified trajectory accuracy or coverage statistics.
Reference notes
Paper explicitly supplies synchronized GPS ground-truth trajectories; exact receiver linkage, dimensional scope, reference cadence and validity masks remain unestablished.

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

MSG-Cal with a planar board aligns LiDAR and RGB/thermal cameras; a 3D model aligns radar to a scanned point cloud. Procedures are described, but availability of parameters and raw calibration records is not established.

Known or intentional limitations

Reported constraints and characteristics to check before using the dataset.

Semantic labels are dominated by vegetation; man-made classes are less frequent.

Thermal labels are transferred using RGB/thermal calibration; 1800 annotated image frames are reported without a modality-specific count.

Collection spans two days in May; broader seasonal/weather/time-of-day coverage and language annotations are future work.

Cameras

rear-rgb

Model
FLIR Blackfly S
Setup
Mono
Count
1
Effective cameras
1
Modality
Rgb
Resolution
Not reported
Rate
30 Hz
Shutter
Not Reported
Lens type
Not Reported
HFOV
Not reported
VFOV
Not reported
Notes
Rear-mounted; PTP synchronization.

front-stereo

Model
FLIR Blackfly S
Setup
Stereo
Count
1
Effective cameras
2
Modality
Rgb
Resolution
Not reported
Rate
30 Hz
Shutter
Not Reported
Lens type
Not Reported
HFOV
Not reported
VFOV
Not reported
Notes
Front-facing stereo configuration; counted as one system; PTP synchronization.

thermal

Model
FLIR Boson 640
Setup
Mono
Count
1
Effective cameras
1
Modality
Thermal
Resolution
Not reported
Rate
60 Hz
Shutter
Not Reported
Lens type
Not Reported
HFOV
Not reported
VFOV
Not reported
Notes
ROS timestamp synchronization. NIR wording elsewhere and duplicate thermal diagram labels await verification; no separate NIR camera proposed.

IMUs

MicroStrain inertial navigation device

Model
MicroStrain 3DM-GX5-AHRS
Count
1
Accel / gyro
Not reported

GNSS

Not reported

LiDAR

Ouster OS1

Model or name
Ouster OS1
Count
1
Dimensions
Not reported
Rate
10 Hz
Channels
64
Range
Not reported

Radar

Navtech CTS350-X

Count
Not reported
Released data
Not reported
Frame rate
4 Hz
Doppler velocity
Not reported
Elevation angle
Not reported
Configured range
Not reported
Field of view
360° H (per radar)
Notes
Described as 2D mmWave radar. The 270 m value is a range capacity, not verified released configuration; Figure 2 visualizes threshold-filtered radar data. PTP synchronization.

Pitot tube

Not reported

Additional sensors

Not reported

Annotations

Reported annotation availability and task support.

Availability
Available
Format
Not reported
Class count
Not reported
Semantic segmentation Available
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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