Work Description

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

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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
Depositor
  • aushani@umich.edu
Contact information
Discipline
Keyword
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
Curation notes
Last modified
  • 02/01/2021
Published
  • 02/01/2021
Language
DOI
  • https://doi.org/10.7302/7rnm-6a03
License
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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Files (Count: 7; Size: 2.88 TB)

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

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