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Ford Autonomous Vehicle
Pose
Autonomous Driving
|...
License: CC BY-NC-SA 4.0

Overview

We present a challenging multi-agent seasonal dataset collected by a fleet of Ford autonomous
vehicles at different days and times during 2017-18. The vehicles were manually driven on a
route in Michigan that included a mix of driving scenarios including the Detroit Airport, freeways,
city-centers, university campus and suburban neighborhood.

We present the seasonal variation
in weather, lighting, construction and traffic conditions experienced in dynamic urban environments.
This dataset can help design robust algorithms for autonomous vehicles and multi-agent systems.
Each log in the dataset is time-stamped and contains raw data from all the sensors, calibration
values, pose trajectory, ground truth pose, and 3D maps. All data is available in Rosbag format
that can be visualized, modified and applied using the open source Robot Operating System (ROS).

The dataset contains full resolution time stamped data from the following sensors:

  • Four HDL-32E Velodyne 3-D Lidars

  • 6 Point Grey 1.3 MP Cameras

  • 1 Point Grey 5 MP Dash Camera

  • Applanix POS-LV IMU

The dataset also includes:

  • 3D Ground Reflectivity Maps
  • 3D Point Cloud Maps
  • 6 DoF Ground-truth Pose
  • 3 DoF Localized Pose
  • Sensor Transforms and Calibration

Data Collection

The vehicles traversed an average route of 66 km in Michigan that included a mix of driving
scenarios such as the Detroit Airport, freeways, city-centers, university campus and suburban
neighbourhoods, etc. Each vehicle used in this data collection is a Ford Fusion outfitted with
an Applanix POS-LV GNSS system, four HDL-32E Velodyne 3D-lidar scanners, 6 Point Grey 1.3 MP
Cameras arranged on the rooftop for 360-degree coverage and 1 Pointgrey 5 MP camera mounted
behind the windshield for the forward field of view. We present the seasonal variation in weather,
lighting, construction and traffic conditions experienced in dynamic urban environments.

Citation

Please use the following citation when referencing the dataset:

@article{agarwal2020ford,
  title={Ford Multi-AV Seasonal Dataset},
  author={Agarwal, Siddharth and Vora, Ankit and Pandey, Gaurav and Williams, Wayne and Kourous,
Helen and McBride, James},
  journal={arXiv preprint arXiv:2003.07969},
  year={2020}
}

License

CC BY-NC-SA 4.0

Data Summary
Type
IMU, GPS, Point Cloud, Image,
Amount
--
Size
1703.97GB
Provided by
Ford Motor Company
Ford Motor Company is an American multinational automaker that has its main headquarters in Dearborn, Michigan, a suburb of Detroit. It was founded by Henry Ford and incorporated on June 16,1903.
| Amount -- | Size 1703.97GB
Ford Autonomous Vehicle
Pose
Autonomous Driving
License: CC BY-NC-SA 4.0

Overview

We present a challenging multi-agent seasonal dataset collected by a fleet of Ford autonomous
vehicles at different days and times during 2017-18. The vehicles were manually driven on a
route in Michigan that included a mix of driving scenarios including the Detroit Airport, freeways,
city-centers, university campus and suburban neighborhood.

We present the seasonal variation
in weather, lighting, construction and traffic conditions experienced in dynamic urban environments.
This dataset can help design robust algorithms for autonomous vehicles and multi-agent systems.
Each log in the dataset is time-stamped and contains raw data from all the sensors, calibration
values, pose trajectory, ground truth pose, and 3D maps. All data is available in Rosbag format
that can be visualized, modified and applied using the open source Robot Operating System (ROS).

The dataset contains full resolution time stamped data from the following sensors:

  • Four HDL-32E Velodyne 3-D Lidars

  • 6 Point Grey 1.3 MP Cameras

  • 1 Point Grey 5 MP Dash Camera

  • Applanix POS-LV IMU

The dataset also includes:

  • 3D Ground Reflectivity Maps
  • 3D Point Cloud Maps
  • 6 DoF Ground-truth Pose
  • 3 DoF Localized Pose
  • Sensor Transforms and Calibration

Data Collection

The vehicles traversed an average route of 66 km in Michigan that included a mix of driving
scenarios such as the Detroit Airport, freeways, city-centers, university campus and suburban
neighbourhoods, etc. Each vehicle used in this data collection is a Ford Fusion outfitted with
an Applanix POS-LV GNSS system, four HDL-32E Velodyne 3D-lidar scanners, 6 Point Grey 1.3 MP
Cameras arranged on the rooftop for 360-degree coverage and 1 Pointgrey 5 MP camera mounted
behind the windshield for the forward field of view. We present the seasonal variation in weather,
lighting, construction and traffic conditions experienced in dynamic urban environments.

Citation

Please use the following citation when referencing the dataset:

@article{agarwal2020ford,
  title={Ford Multi-AV Seasonal Dataset},
  author={Agarwal, Siddharth and Vora, Ankit and Pandey, Gaurav and Williams, Wayne and Kourous,
Helen and McBride, James},
  journal={arXiv preprint arXiv:2003.07969},
  year={2020}
}

License

CC BY-NC-SA 4.0

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