List of Datasets

UGV, Automotive

SmartPNT-MSF

Multi-sensor fusion positioning and navigation

Ground-vehicle GNSS, inertial, camera and LiDAR recordings with post-processed GNSS/INS reference trajectories and selectable sensor/trajectory downloads.

Metadata: Complete Metadata needs review

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

Paper

Not reported

Code

Not reported

Supplementary

Not reported

Quick facts

Vehicle type
UGV, Automotive
Environment
Outdoor
Data origin
Real-world
Sensor count
10
Ground truth
Available
Calibration
Parameters Only
Annotations
Not reported

Sensor overview

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

Cameras

6 reported

IMUs

1 reported

GNSS

1 reported

LiDAR

2 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 Post-processed GNSS/SINS using the highest-accuracy IMU 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
The selected example has mostly sub-5-cm forward/reverse position separation; this is internal consistency, not externally measured accuracy.
Reference notes
IE 8.90 forward/backward smoothed processing; PPP base coordinates. GNSS antenna and IMU-center text references include position, velocity, attitude and quality fields. These are one reference pipeline with multiple output centers.

Calibration and synchronization

Reported calibration level, reproducibility signals, and supporting notes.

Level
Parameters Only
Processed parameters
Available
Raw calibration data
Not reported
Calibration targets
AprilTag board for camera extrinsics; 2D calibration board for intrinsics.

Parameters only

Processed calibration parameters are reported, but raw calibration data is not reported.

Notes

Camera and LiDAR parameter profiles accompany each dataset; README includes base coordinates, lever arms and IMU rotations.

Known or intentional limitations

Reported constraints and characteristics to check before using the dataset.

Dense residential roads can cause perceptual aliasing.

Camera files require decompression before visual processing.

Cameras

mini-cameras

Model
MER-131
Setup
Not Reported
Count
4
Effective cameras
4
Modality
Not Reported
Resolution
Not reported
Rate
Not reported
Shutter
Not Reported
Lens type
Not Reported
HFOV
Not reported
VFOV
Not reported
Notes
Four mini camera streams in compressed ROS bags; decompress with the supplied script. The optical arrangement and sampling rates are not established.

mate-cameras

Model
Not reported
Setup
Not Reported
Count
2
Effective cameras
2
Modality
Not Reported
Resolution
Not reported
Rate
Not reported
Shutter
Not Reported
Lens type
Not Reported
HFOV
Not reported
VFOV
Not reported
Notes
Two camera streams are described in CAM. The mounted top fisheye and model-to-stream mapping require verification.

IMUs

Mini I300 IMU

Model
HGuide I300
Count
1
Accel / gyro
Not reported

GNSS

Released GNSS observations

Model or name
Released GNSS observations
Count
1
Rate
Not reported
GNSS type
NOT REPORTED
Position output
Not reported
Velocity output
Not reported
Heading output
Not reported

LiDAR

VLP-16

Model or name
VLP-16
Count
1
Dimensions
3
Rate
Not reported
Channels
Not reported
Range
Not reported

Pandar64

Model or name
Pandar64
Count
1
Dimensions
3
Rate
Not reported
Channels
Not reported
Range
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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