UrbanLoco: A Full Sensor Suite Dataset for Mapping and Localization in Urban Scenes
This dataset addresses the problem of insufficient public data for autonomous driving research in urban scenes, providing a resource for developing more accurate and robust localization methods, though it is incremental as it builds on existing dataset efforts.
The authors tackled the challenge of mapping and localization in highly urbanized environments by presenting UrbanLoco, a dataset with 13 trajectories covering over 40 kilometers in San Francisco and Hong Kong, including diverse terrains and full sensor-suite data from LIDAR, cameras, IMU, and GNSS receivers.
Mapping and localization is a critical module of autonomous driving, and significant achievements have been reached in this field. Beyond Global Navigation Satellite System (GNSS), research in point cloud registration, visual feature matching, and inertia navigation has greatly enhanced the accuracy and robustness of mapping and localization in different scenarios. However, highly urbanized scenes are still challenging: LIDAR- and camera-based methods perform poorly with numerous dynamic objects; the GNSS-based solutions experience signal loss and multipath problems; the inertia measurement units (IMU) suffer from drifting. Unfortunately, current public datasets either do not adequately address this urban challenge or do not provide enough sensor information related to mapping and localization. Here we present UrbanLoco: a mapping/localization dataset collected in highly-urbanized environments with a full sensor-suite. The dataset includes 13 trajectories collected in San Francisco and Hong Kong, covering a total length of over 40 kilometers. Our dataset includes a wide variety of urban terrains: urban canyons, bridges, tunnels, sharp turns, etc. More importantly, our dataset includes information from LIDAR, cameras, IMU, and GNSS receivers. Now the dataset is publicly available through the link in the footnote. Dataset Link: https://advdataset2019.wixsite.com/urbanloco.