This data set provides Light Detection and Ranging (LiDAR) data and stereo image with various position sensors targeting a highly complex urban environment. The presented data set captures features in urban environments (e.g. metropolis areas, complex buildings and residential areas). The data of 2D and 3D LiDAR are provided, which are typical types of LiDAR sensors. Raw sensor data for vehicle navigation is presented in a file format. For convenience, development tools are provided in the Robot Operating System (ROS) environment.
@article{jeong2019complex,
title={Complex urban dataset with multi-level sensors from highly diverse urban environments},
author={Jeong, Jinyong and Cho, Younggun and Shin, Young-Sik and Roh, Hyunchul and Kim, Ayoung},
journal={The International Journal of Robotics Research},
pages={0278364919843996},
year={2019},
publisher={SAGE Publications Sage UK: London, England}
}
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This data set is based upon work supported by the Ministry of Trade, Industry & Energy (MOTIE), Korea under Industrial Technology Innovation Program (No.10051867) and SLAM-based Lane Map Generation for Complex Urban Environment project funded by Naver Labs Corporation.
