A High-Rate, Heterogeneous Data Set from the Darpa Urban Challenge
This paper describes a data set collected by MIT’s autonomous vehicle Talos during the 2007 DARPA Urban Challenge. Data from a high-precision navigation system, five cameras, 12 SICK planar laser range scanners, and a Velodyne high-density laser range scanner were synchronized and logged to disk for...
| Main Authors: | , , , , , , |
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| Other Authors: | |
| Format: | Article |
| Language: | en_US |
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Sage Publications
2012
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| Online Access: | http://hdl.handle.net/1721.1/73537 https://orcid.org/0000-0002-8863-6550 |
| _version_ | 1826210788243668992 |
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| author | Huang, Albert S. Olson, Edwin B. Antone, Matthew Fletcher, Luke Sebastian Moore, David C. Teller, Seth Leonard, John Joseph |
| author2 | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory |
| author_facet | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Huang, Albert S. Olson, Edwin B. Antone, Matthew Fletcher, Luke Sebastian Moore, David C. Teller, Seth Leonard, John Joseph |
| author_sort | Huang, Albert S. |
| collection | MIT |
| description | This paper describes a data set collected by MIT’s autonomous vehicle Talos during the 2007 DARPA Urban Challenge. Data from a high-precision navigation system, five cameras, 12 SICK planar laser range scanners, and a Velodyne high-density laser range scanner were synchronized and logged to disk for 90 km of travel. In addition to documenting a number of large loop closures useful for developing mapping and localization algorithms, this data set also records the first robotic traffic jam and two autonomous vehicle collisions. It is our hope that this data set will be useful to the autonomous vehicle community, especially those developing robotic perception capabilities. |
| first_indexed | 2024-09-23T14:55:26Z |
| format | Article |
| id | mit-1721.1/73537 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T14:55:26Z |
| publishDate | 2012 |
| publisher | Sage Publications |
| record_format | dspace |
| spelling | mit-1721.1/735372022-09-29T11:26:18Z A High-Rate, Heterogeneous Data Set from the Darpa Urban Challenge Huang, Albert S. Olson, Edwin B. Antone, Matthew Fletcher, Luke Sebastian Moore, David C. Teller, Seth Leonard, John Joseph Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology. Department of Mechanical Engineering Huang, Albert S. Fletcher, Luke Sebastian Moore, David C. Teller, Seth Leonard, John Joseph This paper describes a data set collected by MIT’s autonomous vehicle Talos during the 2007 DARPA Urban Challenge. Data from a high-precision navigation system, five cameras, 12 SICK planar laser range scanners, and a Velodyne high-density laser range scanner were synchronized and logged to disk for 90 km of travel. In addition to documenting a number of large loop closures useful for developing mapping and localization algorithms, this data set also records the first robotic traffic jam and two autonomous vehicle collisions. It is our hope that this data set will be useful to the autonomous vehicle community, especially those developing robotic perception capabilities. United States. Defense Advanced Research Projects Agency (Urban Challenge, ARPA Order No. W369/00, Program Code DIRO, issued by DARPA/CMO under Contract No. HR0011-06-C-0149) 2012-10-02T13:52:27Z 2012-10-02T13:52:27Z 2010-11 Article http://purl.org/eprint/type/JournalArticle 0278-3649 1741-3176 http://hdl.handle.net/1721.1/73537 Huang, A. S. et al. “A High-rate, Heterogeneous Data Set From The DARPA Urban Challenge.” The International Journal of Robotics Research 29.13 (2010): 1595–1601. https://orcid.org/0000-0002-8863-6550 en_US http://dx.doi.org/10.1177/0278364910384295 International Journal of Robotics Research Creative Commons Attribution-Noncommercial-Share Alike 3.0 http://creativecommons.org/licenses/by-nc-sa/3.0/ application/pdf Sage Publications MIT web domain |
| spellingShingle | Huang, Albert S. Olson, Edwin B. Antone, Matthew Fletcher, Luke Sebastian Moore, David C. Teller, Seth Leonard, John Joseph A High-Rate, Heterogeneous Data Set from the Darpa Urban Challenge |
| title | A High-Rate, Heterogeneous Data Set from the Darpa Urban Challenge |
| title_full | A High-Rate, Heterogeneous Data Set from the Darpa Urban Challenge |
| title_fullStr | A High-Rate, Heterogeneous Data Set from the Darpa Urban Challenge |
| title_full_unstemmed | A High-Rate, Heterogeneous Data Set from the Darpa Urban Challenge |
| title_short | A High-Rate, Heterogeneous Data Set from the Darpa Urban Challenge |
| title_sort | high rate heterogeneous data set from the darpa urban challenge |
| url | http://hdl.handle.net/1721.1/73537 https://orcid.org/0000-0002-8863-6550 |
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