The dataset is hosted as a part of AWS Public Dataset Program. The data is organized on the basis of dates. Each of these directories contain subfolders for each Vehicle and Maps. Each Vehicle sub-directory contains all the logs in rosbag format, PNG Images and calibration files for each sensor. Calibration data for each Vehicle is provided separately.
The directory structure is:
- YYYY-MM-DD - The date when data was collected
- Map - Combined Map files corresponding to the Mth Log from all vehicles
- VN - The serial number of vehicle that collected the data, example V1
- Info - Information pertaining to each vehicle drive
- LogM - Every drive is divided in M parts, each of them containing:
- LogM.bag - Rosbag file corresponding to the Mth Log
- Images - PNGs corresponding to the Mth Log
The Images are orgainzed as:
- CENTER - Center Camera
- FL - Front-Left Camera
- FR - Front-Right Camera
- SL - Side-Left Camera
- SR - Side-Right Camera
- RL - Rear-Left Camera
- RR - Rear-Right Camera
To get started, check out the tutorial on github and download the sample dataset.