List of Datasets

Automotive

Novel Sensors for Autonomous Vehicle Perception (NSAVP)

Multimodal autonomous vehicle perception and place recognition

Stereo event, thermal, monochrome and RGB road recordings with processed navigation poses, opposing traversals and afternoon, sunset and night illumination.

Metadata: Complete Metadata needs review

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

Supplementary

Not reported

Quick facts

Vehicle type
Automotive
Environment
Outdoor
Data origin
Real-world
Sensor count
8
Ground truth
Available
Calibration
Partial Raw Data
Annotations
Not reported

Sensor overview

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

Cameras

8 reported

IMUs

Not reported

GNSS

Not 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 Applanix · POS-LV 420 Not reported 200 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.
Hybrid
Accuracy notes
Mean estimated standard deviations: 2 cm east/north, 5 cm height, 0.005 degrees roll/pitch and 0.03 degrees yaw; these are componentwise estimation uncertainties.
Reference notes
POSPac Mobile Mapping Suite V8.8 IN-Fusion Smartbase fuses navigation measurements and nearby base-station corrections. HDF5 provides ECEF base-link positions, quaternions and timestamps. Raw reference hardware is excluded from input sensors.

Calibration and synchronization

Reported calibration level, reproducibility signals, and supporting notes.

Level
Partial Raw Data
Processed parameters
Available
Raw calibration data
Available
Calibration targets
Heated aluminum and black-vinyl AprilGrid

Reproducible calibration data

Raw calibration data is reported, so users can reproduce or inspect the calibration process.

Notes

Kalibr estimates eight-camera pinhole/radial-tangential intrinsics and extrinsics; results and manually measured base-link extrinsics are YAML. C1 is a 2.2 minute calibration sequence. Reprojection standard deviations are at most 0.6 pixel except 1 pixel along dominant thermal motion. Manually measured extrinsics have expected ±5 mm and ±3 degree accuracy.

Known or intentional limitations

Reported constraints and characteristics to check before using the dataset.

Thermal NUCs interrupt each camera for about 0.5 seconds every 3–5 minutes; none occur simultaneously in both cameras.

Thermal cameras also drop 1–2 frames about 10–20 times per sequence.

Independent visible-camera automatic controls can cause stereo-pair differences.

Insect smudges affect visible cameras in nighttime R0 sequences.

Cameras

monochrome_stereo

Model
FLIR BFS-PGE-16S2M (FLIR Blackfly S GigE)
Setup
Stereo
Count
1
Effective cameras
2
Modality
Grayscale
Resolution
1440 x 1080
Rate
20.14 Hz
Shutter
Global
Lens type
Pinhole
HFOV
70 deg
VFOV
55 deg
Notes
0.90 m stereo baseline; Computar A4Z2812CS-MPIR lenses. Raw images and per-image metadata are in HDF5.

rgb_stereo

Model
FLIR BFS-PGE-50S5C (FLIR Blackfly S GigE)
Setup
Stereo
Count
1
Effective cameras
2
Modality
Rgb
Resolution
1224 x 1024
Rate
20.14 Hz
Shutter
Global
Lens type
Pinhole
HFOV
70 deg
VFOV
60 deg
Notes
1.00 m stereo baseline; Fujinon HF6XA-5M lenses. Recorded resolution uses 2 by 2 pixel binning.

thermal_stereo

Model
FLIR 40640U050-6PAAX (FLIR ADK)
Setup
Stereo
Count
1
Effective cameras
2
Modality
Thermal
Resolution
640 x 512
Rate
60.42 Hz
Shutter
Rolling
Lens type
Pinhole
HFOV
50 deg
VFOV
40 deg
Notes
0.64 m stereo baseline; integrated lenses. Synchronization triggers readout; every third thermal image aligns with visible images. NUCs interrupt individual cameras.

event_stereo

Model
Inivation DVXplorer
Setup
Stereo
Count
1
Effective cameras
2
Modality
Event
Resolution
640 x 480
Rate
Not reported
Shutter
Not Reported
Lens type
Pinhole
HFOV
70 deg
VFOV
50 deg
Notes
1.00 m stereo baseline; included lenses. Asynchronous x/y/polarity/timestamp events; the 10 kHz signal advances the event clock and is not a frame rate.

IMUs

Not reported

GNSS

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.

Citation key
Not reported

BibTeX

Not reported

Dataset corrections

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