The University of Michigan North Campus Long-Term Vision and LIDAR Dataset

Carlevaris-Bianco, Nicholas; Ushani, Arash; Eustice, Ryan

Work Description

Title: The University of Michigan North Campus Long-Term Vision and LIDAR Dataset Open Access Deposited

Attribute	Value
Methodology	Sensor payloads mounted on robotic platform
Description	This is a large scale, long-term autonomy dataset for robotics research collected on the University of Michigan’s North Campus. The dataset consists of omnidirectional imagery, 3D lidar, planar lidar, GPS, and proprioceptive sensors for odometry collected using a Segway robot. The dataset was collected to facilitate research focusing on longterm autonomous operation in changing environments. The dataset is comprised of 27 sessions spaced approximately biweekly over the course of 15 months. The sessions repeatedly explore the campus, both indoors and outdoors, on varying trajectories, and at different times of the day across all four seasons. This allows the dataset to capture many challenging elements including: moving obstacles (e.g., pedestrians, bicyclists, and cars), changing lighting, varying viewpoint, seasonal and weather changes (e.g., falling leaves and snow), and long-term structural changes caused by construction projects. To further facilitate research, we also provide ground-truth pose for all sessions in a single frame of reference. A detailed description of the dataset and the methods used to generate it is in the document nclt.pdf. If you use this dataset in your research please cite: Carlevaris-Bianco, N., Ushani, A., Eustice, R. (2021). The University of Michigan North Campus Long-Term Vision and LIDAR Dataset [Data set]. University of Michigan - Deep Blue. https://doi.org/10.7302/7rnm-6a03
Creator	Carlevaris-Bianco, Nicholas Ushani, Arash Eustice, Ryan
Depositor	aushani@umich.edu
Contact information	aushani@umich.edu
Discipline	Engineering
Keyword	Long-term SLAM place recognition lidar computer vision field and service robotics
Citations to related material	Carlevaris-Bianco, Nicholas, et al. “University of Michigan North Campus Long-Term Vision and Lidar Dataset.” The International Journal of Robotics Research, vol. 35, no. 9, Aug. 2016, pp. 1023–1035, doi:10.1177/0278364915614638.
Resource type	Dataset
Curation notes	From Sage Publishing regarding the copy of the article as saved here, "nclt.pdf": Users who receive access to an article through a repository are reminded that the article is protected by copyright and reuse is restricted to non-commercial and no derivative uses. https://us.sagepub.com/en-us/nam/posting-to-an-institutional-repository-green-open-access
Last modified	02/01/2021
Published	02/01/2021
Language	English
DOI	https://doi.org/10.7302/7rnm-6a03
License	http://creativecommons.org/licenses/by-nc/4.0/

To Cite this Work:
Carlevaris-Bianco, N., Ushani, A., Eustice, R. (2021). The University of Michigan North Campus Long-Term Vision and LIDAR Dataset [Data set], University of Michigan - Deep Blue Data. https://doi.org/10.7302/7rnm-6a03

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Title	Original Upload	Last Modified	File Size	Access	Actions
nclt.pdf	2018-04-23	2018-04-23	3.06 MB	Open Access	View Details Download
ground_truth.zip	2018-04-17	2018-12-21	846 MB	Open Access	View Details Download
ground_truth_cov.zip	2018-04-17	2018-12-21	2.84 MB	Open Access	View Details Download
hokuyo_data.zip	2018-04-17	2018-12-21	3.11 GB	Open Access	View Details Download
images.zip	2018-04-19	2018-12-19	2.5 TB	Open Access	View Details Download Data from Globus
sensor_data.zip	2018-04-17	2018-12-21	2.43 GB	Open Access	View Details Download
velodyne_data.zip	2018-04-17	2018-12-21	384 GB	Open Access	View Details Download Data from Globus

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