Overview

The Ford vehicles traversed an average route of 66km through the Greater Detroit Area. Each drive includes the DTW airport, University of Michigan Dearborn campus and residential communities as shown in the image. Each run has minor variations in the route to capture the diverse features in urban environments, providing useful data to the research community.

route

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
sensors

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
dataset

Seasonal Variation

Sunny

Cloudy

Fall

Snow

Driving Scenarios

Freeway

Residential

Overpass

Airport

Bridge

Tunnel

Construction

Vegetation