articleThe International Journal of Robotics ResearchNov 29, 2016Closed access

1 year, 1000 km: The Oxford RobotCar dataset

WMWill MaddernGPGeoffrey PascoeCLChris LinegarPNPaul Newman

University of Oxford

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Abstract

We present a challenging new dataset for autonomous driving: the Oxford RobotCar Dataset. Over the period of May 2014 to December 2015 we traversed a route through central Oxford twice a week on average using the Oxford RobotCar platform, an autonomous Nissan LEAF. This resulted in over 1000 km of recorded driving with almost 20 million images collected from 6 cameras mounted to the vehicle, along with LIDAR, GPS and INS ground truth. Data was collected in all weather conditions, including heavy rain, night, direct sunlight and snow. Road and building works over the period of a year significantly changed sections of the route from the beginning to the end of data collection. By frequently traversing the same…

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Topics & keywords

Topics
Keywords
  • Global Positioning System
  • Traverse
  • Snow
  • Ground truth
  • Lidar
  • Period (music)
  • Course (navigation)
  • Computer science
UN Sustainable Development Goals
  • Sustainable cities and communities
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