UGV
TOMD
Traversable pathway segmentation
Nine repeated off-road robot traversals with stereo images, 128-channel LiDAR, GNSS, IMU, illumination and control data; binary traversability labels cover 3,508 selected left-camera images.
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
- Not reported
- Calibration
- Not reported
- Annotations
- Available
Sensor overview
High-level sensor availability before the detailed sensor records below.
Ground truth
Reference scope, method, rate, coverage, and provenance.
Not reported
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
- Not reported
Calibration data
Calibration reproducibility details are not reported.
Notes
LiDAR-to-camera extrinsics use a target-based initialization followed by target-less refinement; other sensors use manufacturer factory settings. The paper does not detail distributed calibration files or raw calibration sequences.
Known or intentional limitations
Reported constraints and characteristics to check before using the dataset.
low_light
Traversability annotations cover 3,508 selected images: one entire sequence and every tenth frame from three other sequences.
The reported evaluation uses a random 8:1:1 frame split; it does not establish route-disjoint evaluation.
Cameras
zedx_stereo
- Model
- ZEDx
- Setup
- Stereo
- Count
- 1
- Effective cameras
- 2
- Modality
- Rgb
- Resolution
- 1920 x 1080
- Rate
- 10 Hz
- Shutter
- Not Reported
- Lens type
- Not Reported
- HFOV
- Not reported
- VFOV
- Not reported
- Notes
- Table I reports the dataset resolution; the equipment section's 1920×1200 at 60 fps and 960×600 at 120 fps describe supported device modes, not delivered rates.
IMUs
ZEDx-integrated IMU
- Model
- Not reported
- Count
- 1
- Accel / gyro
- Not reported
GNSS
ZED-F9P-0xB
- Model or name
- ZED-F9P-0xB
- Count
- 1
- Rate
- 10 Hz
- GNSS type
- RTK
- Position output
- Available
- Velocity output
- Not reported
- Heading output
- Not reported
LiDAR
Ouster OS1
- Model or name
- Ouster OS1
- Count
- 1
- Dimensions
- 3
- Rate
- 10 Hz
- Channels
- 128
- Range
- Not reported
Radar
Not reported
Pitot tube
Not reported
Additional sensors
Other sensor
- Model
- Yoctopuce Light V4
- Name
- Ambient illumination sensor
- Count
- 1
- Rate
- 10 Hz
- Notes
- Illuminance measurements accompany repeated traversals.
Annotations
Reported annotation availability and task support.
- Availability
- Available
- Format
- Not reported
- Class count
- 2
Semantic segmentation
Available
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.
@misc{sun2025tomd,
title={TOMD: A Trail-based Off-road Multimodal Dataset for Traversable Pathway Segmentation under Challenging Illumination Conditions},
author={Sun, Yixin and Li, Li and E, Wenke and Atapour-Abarghouei, Amir and Breckon, Toby P.},
year={2025},
eprint={2506.21630},
archivePrefix={arXiv}
}
Dataset corrections
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