Automotive
HeRCULES
Heterogeneous radar SLAM and place recognition
Car-mounted 4D radar, spinning radar and FMCW LiDAR recordings with stereo imagery and GNSS/INS references across revisited urban and mountain routes.
Access links
Primary places to inspect, download, read about, or reproduce the dataset.
Quick facts
- Vehicle type
- Automotive
- Environment
- Outdoor
- Data origin
- Real-world
- Sensor count
- 7
- 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 | GNSS/INS · Hexagon NovAtel SPAN-CPT7 | Not reported | Not reported | Unknown |
Reference provenance
Hybrid
|
|
||||||
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
YAML/TXT calibration parameters are supplied. Methods include Fourier-Mellin radar/LiDAR alignment, board-and-reflector joint camera/LiDAR/4D-radar calibration, and target-free LiDAR/IMU initialization.
Known or intentional limitations
Reported constraints and characteristics to check before using the dataset.
Driver-filtered radar object points are sensor-derived products and are not established as manually labeled object annotations.
The paper reports sparse Continental point clouds relative to the Oculii radar used in the transferred SLAM baseline.
Cameras
stereo
- Model
- FLIR Blackfly S BFS-U3-16S2C-CS USB3
- Setup
- Stereo
- Count
- 1
- Effective cameras
- 2
- Modality
- Not Reported
- Resolution
- 1440 x 1080
- Rate
- 15 Hz
- Shutter
- Not Reported
- Lens type
- Not Reported
- HFOV
- 60 deg
- VFOV
- 45 deg
- Notes
- Images are supplied as 8-bit Bayer-pattern PNG files; stereo left/right streams are depicted.
IMUs
Xsens IMU
- Model
- Xsens MTi-300
- Count
- 1
- Accel / gyro
- Not reported
GNSS
Hexagon NovAtel SPAN-CPT7
- Model or name
- Hexagon NovAtel SPAN-CPT7
- Count
- 1
- Rate
- 50 Hz
- GNSS type
- RTK
- Position output
- Available
- Velocity output
- Available
- Heading output
- Available
LiDAR
Aeva Aeries II
- Model or name
- Aeva Aeries II
- Count
- 1
- Dimensions
- 3
- Rate
- 10 Hz
- Channels
- Not reported
- Range
- Not reported
Radar
Continental ARS548
- Count
- 1
- Released data
- Point detections / point clouds
- Frame rate
- 20 Hz
- Doppler velocity
- Available
- Elevation angle
- Available
- Configured range
- Not reported
- Field of view
- Not reported
- File format
- Binary
- Notes
- Both radar detections and driver-filtered object point clouds are supplied; raw point cloud does not establish ADC samples or persistent object tracks.
Navtech RAS6
- Count
- 1
- Released data
- Scanning power images
- Frame rate
- 4 Hz
- Doppler velocity
- Not reported
- Elevation angle
- Not reported
- Configured range
- Not reported
- Field of view
- Not reported
- Notes
- Polar radar images with software conversion to Oxford-style and Cartesian images.
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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