Automotive
Malaga Urban
Urban visual and LiDAR SLAM
Urban automotive dataset with high-rate stereo imagery, five 2D laser scanners, IMU, and approximate consumer GPS positioning.
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
- 9
- Ground truth
- Not available
- Calibration
- Partial Raw Data
- Annotations
- Not reported
Sensor overview
High-level sensor availability before the detailed sensor records below.
Ground truth
Reference scope, method, rate, coverage, and provenance.
Not available
Calibration and synchronization
Reported calibration level, reproducibility signals, and supporting notes.
- Level
- Partial Raw Data
- Processed parameters
- Available
- Raw calibration data
- Available
- Calibration targets
- checkerboard
Reproducible calibration data
Raw calibration data is reported, so users can reproduce or inspect the calibration process.
Notes
Camera parameters and raw Bumblebee 2 checkerboard stereo pairs are provided.
Known or intentional limitations
Reported constraints and characteristics to check before using the dataset.
The consumer GPS provides only approximate positioning and has gaps in urban canyons and dense groves; the dataset does not provide ground truth.
The front SICK scanner lost approximately 1.9% of frames, the highest reported sensor loss.
Direct sun can produce vertical image smears, and automatic camera gain and white balance introduce appearance changes.
Cameras
stereo-rgb
- Model
- Point Grey Research Bumblebee 2
- Setup
- Stereo
- Count
- 1
- Effective cameras
- 2
- Modality
- Rgb
- Resolution
- 1024 x 768
- Rate
- 20 Hz
- Shutter
- Not Reported
- Lens type
- Not Reported
- HFOV
- Not reported
- VFOV
- Not reported
IMUs
Xsens MTi
- Model
- Xsens MTi
- Count
- 1
- Accel / gyro
- 100 / 100 Hz
GNSS
Consumer GPS receiver
- Model or name
- Consumer GPS receiver
- Count
- 1
- Rate
- 1 Hz
- GNSS type
- GPS
- Position output
- Available
- Velocity output
- Not available
- Heading output
- Not reported
LiDAR
Hokuyo UTM-30LX
- Model or name
- Hokuyo UTM-30LX
- Count
- 3
- Dimensions
- 2
- Rate
- 40 Hz
- Channels
- Not reported
- Range
- 30 m
SICK LMS-200
- Model or name
- SICK LMS-200
- Count
- 2
- Dimensions
- 2
- Rate
- 75 Hz
- Channels
- Not reported
- Range
- 80 m
Additional sensors
Other sensor
- Model
- Topcon mmGPS
- Name
- Timing receivers
- Variation
- GNSS timing receiver
- Count
- 2
- Notes
- Timing frames are included for clock synchronization; positioning information was unavailable during recording.
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.
@article{Blanco-Claraco2014,
title = {The {{M\'alaga}} Urban Dataset: {{High-rate}} Stereo and {{LiDAR}} in a Realistic Urban Scenario},
author = {{Blanco-Claraco}, Jos{\'e}-Luis and {Moreno-Due{\~n}as}, Francisco-{\'A}ngel and {Gonz{\'a}lez-Jim{\'e}nez}, Javier},
year = {2014},
month = feb,
journal = {The International Journal of Robotics Research},
volume = {33},
number = {2},
pages = {207--214},
issn = {0278-3649, 1741-3176},
doi = {10.1177/0278364913507326},
urldate = {2023-10-04},
langid = {english}
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