UGV
M2P2
Passive perception for off-road mobility in extreme low light
Thermal, event and stereo RGB recordings from a Husky robot on trails and forest terrain, with released LiDAR reference clouds and mobility logs.
Access links
Primary places to inspect, download, read about, or reproduce the dataset.
Quick facts
- Vehicle type
- UGV
- Environment
- Outdoor
- Data origin
- Real-world
- Sensor count
- 5
- Ground truth
- Available
- Calibration
- Not reported
- 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
|
|---|---|---|---|---|---|---|
| Not reported | Other | LiDAR depth reference · Ouster OS1-128 | 1 lidar | 10 Hz | Unknown |
Reference provenance
External
|
|
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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
- Heated aluminum and carbon-fiber checkerboard
Calibration data
Calibration reproducibility details are not reported.
Notes
Kalibr estimates camera intrinsics and extrinsics; the Ouster base anchors the transformation tree. URDFs and calibrated transformations are provided, but raw calibration release scope is unspecified.
Known or intentional limitations
Reported constraints and characteristics to check before using the dataset.
GPS coordinates cover 87.97 percent of collection time and degrade under canopy.
Thermal calibration interrupts image acquisition for approximately 0.4 seconds.
Six RGB and LiDAR synchronization failures are reported.
RGB cameras fail to perceive in no-light conditions.
Cameras
thermal
- Model
- Xenics Ceres T 1280
- Setup
- Mono
- Count
- 1
- Effective cameras
- 1
- Modality
- Thermal
- Resolution
- 1280 x 1024
- Rate
- 10 Hz
- Shutter
- Not Reported
- Lens type
- Not Reported
- HFOV
- 71.7 deg
- VFOV
- 58.9 deg
- Notes
- Compressed thermal images; automatic shutter calibration interrupts acquisition for approximately 0.4 seconds.
event
- Model
- Prophesee Metavision EVK4
- Setup
- Mono
- Count
- 1
- Effective cameras
- 1
- Modality
- Event
- Resolution
- 1280 x 720
- Rate
- Not reported
- Shutter
- Not Reported
- Lens type
- Not Reported
- HFOV
- 46.8 deg
- VFOV
- 36 deg
- Notes
- Raw asynchronous events with LiDAR trigger-edge timestamps; an IR filter reduces LiDAR pulse interference. The device time resolution is not a released image frame rate.
stereo_rgb
- Model
- FLIR Blackfly S
- Setup
- Stereo
- Count
- 1
- Effective cameras
- 2
- Modality
- Rgb
- Resolution
- 1616 x 1240
- Rate
- 10 Hz
- Shutter
- Not Reported
- Lens type
- Not Reported
- HFOV
- Not reported
- VFOV
- Not reported
- Notes
- Two physical RGB cameras represented as one stereo system; fail to perceive in no-light conditions.
IMUs
Not reported
GNSS
GPS
- Model or name
- GPS
- Count
- 1
- Rate
- Not reported
- GNSS type
- NOT REPORTED
- Position output
- Available
- Velocity output
- Not reported
- Heading output
- Not reported
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.
Not reported
Dataset corrections
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