The SFU Mountain Dataset: Semi-Structured Woodland Trails Under Changing Environmental Conditions
Jake Bruce and Jens Wawerla and Richard T. Vaughan

sfu-mountain-torrent (311 files)
bags/dry-a.bag 27.32GB
bags/dry-a.bag.md5sum 0.04kB
bags/dry-b.bag 16.36GB
bags/dry-b.bag.md5sum 0.04kB
bags/dusk-a.bag 25.80GB
bags/dusk-a.bag.md5sum 0.05kB
bags/dusk-b.bag 11.72GB
bags/dusk-b.bag.md5sum 0.05kB
bags/night-a.bag 12.23GB
bags/night-a.bag.md5sum 0.05kB
bags/night-b.bag 7.93GB
bags/night-b.bag.md5sum 0.05kB
bags/wet-a.bag 29.69GB
bags/wet-a.bag.md5sum 0.04kB
bags/wet-b.bag 16.49GB
bags/wet-b.bag.md5sum 0.04kB
barometric_pressure-dry-a.tgz 588.31kB
barometric_pressure-dry-b.tgz 382.17kB
barometric_pressure-dusk-a.tgz 590.45kB
barometric_pressure-dusk-b.tgz 397.30kB
barometric_pressure-night-a.tgz 656.18kB
barometric_pressure-night-b.tgz 435.50kB
barometric_pressure-wet-a.tgz 628.18kB
barometric_pressure-wet-b.tgz 412.63kB
camera_port-dry-a-10th.tar 799.32MB
camera_port-dry-a-100th.tar 79.85MB
camera_port-dry-a.tar 7.99GB
camera_port-dry-b-10th.tar 519.76MB
camera_port-dry-b-100th.tar 51.76MB
camera_port-dry-b.tar 5.20GB
camera_port-dusk-a-10th.tar 662.53MB
camera_port-dusk-a-100th.tar 66.26MB
camera_port-dusk-a.tar 6.63GB
camera_port-dusk-b-10th.tar 391.17MB
camera_port-dusk-b-100th.tar 39.11MB
camera_port-dusk-b.tar 3.91GB
camera_port-night-a-10th.tar 334.71MB
camera_port-night-a-100th.tar 33.44MB
camera_port-night-a.tar 3.35GB
camera_port-night-b-10th.tar 234.53MB
camera_port-night-b-100th.tar 23.39MB
camera_port-night-b.tar 2.34GB
camera_port-wet-a-10th.tar 748.95MB
camera_port-wet-a-100th.tar 74.86MB
camera_port-wet-a.tar 7.49GB
camera_port-wet-b-10th.tar 556.39MB
camera_port-wet-b-100th.tar 55.65MB
camera_port-wet-b.tar 5.57GB
camera_rear-dry-a-10th.tar 751.40MB
camera_rear-dry-a-100th.tar 75.07MB
camera_rear-dry-a.tar 7.51GB
camera_rear-dry-b-10th.tar 484.20MB
camera_rear-dry-b-100th.tar 48.31MB
camera_rear-dry-b.tar 4.84GB
camera_rear-dusk-a-10th.tar 673.89MB
camera_rear-dusk-a-100th.tar 67.50MB
camera_rear-dusk-a.tar 6.74GB
camera_rear-dusk-b-10th.tar 275.27MB
camera_rear-dusk-b-100th.tar 27.58MB
camera_rear-dusk-b.tar 2.75GB
camera_rear-night-a-10th.tar 217.13MB
camera_rear-night-a-100th.tar 21.71MB
camera_rear-night-a.tar 2.17GB
camera_rear-night-b-10th.tar 140.24MB
camera_rear-night-b-100th.tar 14.00MB
camera_rear-night-b.tar 1.40GB
camera_rear-wet-a-10th.tar 802.61MB
camera_rear-wet-a-100th.tar 80.23MB
camera_rear-wet-a.tar 8.03GB
camera_rear-wet-b-10th.tar 353.86MB
camera_rear-wet-b-100th.tar 35.45MB
camera_rear-wet-b.tar 3.54GB
camera_starboard-dry-a-10th.tar 778.80MB
camera_starboard-dry-a-100th.tar 77.82MB
camera_starboard-dry-a.tar 7.79GB
camera_starboard-dry-b-10th.tar 503.45MB
camera_starboard-dry-b-100th.tar 50.37MB
camera_starboard-dry-b.tar 5.04GB
camera_starboard-dusk-a-10th.tar 775.00MB
camera_starboard-dusk-a-100th.tar 77.38MB
camera_starboard-dusk-a.tar 7.75GB
camera_starboard-dusk-b-10th.tar 382.26MB
camera_starboard-dusk-b-100th.tar 38.20MB
camera_starboard-dusk-b.tar 3.82GB
camera_starboard-night-a-10th.tar 396.84MB
camera_starboard-night-a-100th.tar 39.64MB
camera_starboard-night-a.tar 3.97GB
camera_starboard-night-b-10th.tar 233.33MB
camera_starboard-night-b-100th.tar 23.29MB
camera_starboard-night-b.tar 2.33GB
camera_starboard-wet-a-10th.tar 1.00GB
camera_starboard-wet-a-100th.tar 100.18MB
camera_starboard-wet-a.tar 10.02GB
camera_starboard-wet-b-10th.tar 546.22MB
camera_starboard-wet-b-100th.tar 54.48MB
camera_starboard-wet-b.tar 5.46GB
camera_stereo-dry-a-10th.tar 1.59GB
camera_stereo-dry-a-100th.tar 158.99MB
camera_stereo-dry-a.tar 15.89GB
camera_stereo-dry-b-10th.tar 838.97MB
camera_stereo-dry-b-100th.tar 83.90MB
camera_stereo-dry-b.tar 8.39GB
camera_stereo-dusk-a-10th.tar 1.58GB
camera_stereo-dusk-a-100th.tar 157.94MB
camera_stereo-dusk-a.tar 15.82GB
camera_stereo-dusk-b-10th.tar 594.64MB
camera_stereo-dusk-b-100th.tar 59.50MB
camera_stereo-dusk-b.tar 5.95GB
camera_stereo-night-a-10th.tar 869.88MB
camera_stereo-night-a-100th.tar 86.74MB
camera_stereo-night-a.tar 8.70GB
camera_stereo-night-b-10th.tar 571.29MB
camera_stereo-night-b-100th.tar 57.15MB
camera_stereo-night-b.tar 5.71GB
camera_stereo-wet-a-10th.tar 1.76GB
camera_stereo-wet-a-100th.tar 175.54MB
camera_stereo-wet-a.tar 17.57GB
camera_stereo-wet-b-10th.tar 859.56MB
camera_stereo-wet-b-100th.tar 86.08MB
camera_stereo-wet-b.tar 8.60GB
camera_stereo_left-dry-a-10th.tar 790.73MB
camera_stereo_left-dry-a-100th.tar 79.16MB
camera_stereo_left-dry-a.tar 7.91GB
camera_stereo_left-dry-b-10th.tar 424.44MB
camera_stereo_left-dry-b-100th.tar 42.49MB
camera_stereo_left-dry-b.tar 4.24GB
camera_stereo_left-dusk-a-10th.tar 771.74MB
camera_stereo_left-dusk-a-100th.tar 77.10MB
camera_stereo_left-dusk-a.tar 7.72GB
camera_stereo_left-dusk-b-10th.tar 294.80MB
camera_stereo_left-dusk-b-100th.tar 29.50MB
camera_stereo_left-dusk-b.tar 2.95GB
camera_stereo_left-night-a-10th.tar 433.47MB
camera_stereo_left-night-a-100th.tar 43.25MB
camera_stereo_left-night-a.tar 4.33GB
camera_stereo_left-night-b-10th.tar 284.35MB
camera_stereo_left-night-b-100th.tar 28.44MB
camera_stereo_left-night-b.tar 2.84GB
camera_stereo_left-wet-a-10th.tar 857.05MB
camera_stereo_left-wet-a-100th.tar 85.61MB
camera_stereo_left-wet-a.tar 8.57GB
camera_stereo_left-wet-b-10th.tar 422.83MB
camera_stereo_left-wet-b-100th.tar 42.31MB
camera_stereo_left-wet-b.tar 4.23GB
camera_stereo_right-dry-a-10th.tar 798.36MB
camera_stereo_right-dry-a-100th.tar 79.82MB
camera_stereo_right-dry-a.tar 7.99GB
camera_stereo_right-dry-b-10th.tar 414.53MB
camera_stereo_right-dry-b-100th.tar 41.40MB
camera_stereo_right-dry-b.tar 4.15GB
camera_stereo_right-dusk-a-10th.tar 810.12MB
camera_stereo_right-dusk-a-100th.tar 80.83MB
camera_stereo_right-dusk-a.tar 8.10GB
camera_stereo_right-dusk-b-10th.tar 299.83MB
camera_stereo_right-dusk-b-100th.tar 29.99MB
camera_stereo_right-dusk-b.tar 3.00GB
camera_stereo_right-night-a-10th.tar 436.40MB
camera_stereo_right-night-a-100th.tar 43.48MB
camera_stereo_right-night-a.tar 4.36GB
camera_stereo_right-night-b-10th.tar 286.92MB
camera_stereo_right-night-b-100th.tar 28.70MB
camera_stereo_right-night-b.tar 2.87GB
camera_stereo_right-wet-a-10th.tar 899.72MB
camera_stereo_right-wet-a-100th.tar 89.93MB
camera_stereo_right-wet-a.tar 9.00GB
camera_stereo_right-wet-b-10th.tar 436.72MB
camera_stereo_right-wet-b-100th.tar 43.76MB
camera_stereo_right-wet-b.tar 4.37GB
camera_upward-dry-a-10th.tar 698.56MB
camera_upward-dry-a-100th.tar 69.89MB
camera_upward-dry-a.tar 6.99GB
camera_upward-dry-b-10th.tar 432.66MB
camera_upward-dry-b-100th.tar 43.16MB
camera_upward-dry-b.tar 4.33GB
camera_upward-dusk-a-10th.tar 640.39MB
camera_upward-dusk-a-100th.tar 64.02MB
camera_upward-dusk-a.tar 6.40GB
camera_upward-dusk-b-10th.tar 296.82MB
camera_upward-dusk-b-100th.tar 29.74MB
camera_upward-dusk-b.tar 2.97GB
camera_upward-night-a-10th.tar 172.83MB
camera_upward-night-a-100th.tar 17.29MB
camera_upward-night-a.tar 1.73GB
camera_upward-night-b-10th.tar 106.34MB
camera_upward-night-b-100th.tar 10.62MB
camera_upward-night-b.tar 1.06GB
camera_upward-wet-a-10th.tar 727.81MB
camera_upward-wet-a-100th.tar 72.77MB
camera_upward-wet-a.tar 7.28GB
camera_upward-wet-b-10th.tar 476.68MB
camera_upward-wet-b-100th.tar 47.71MB
camera_upward-wet-b.tar 4.77GB
encoder-dry-a.tgz 232.42kB
encoder-dry-b.tgz 150.96kB
encoder-dusk-a.tgz 233.05kB
encoder-dusk-b.tgz 156.20kB
encoder-night-a.tgz 234.03kB
encoder-night-b.tgz 154.43kB
encoder-wet-a.tgz 248.52kB
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Type: Dataset
Tags:Computer Science, robotics, Burnaby Mountain, Trans-Canada Trail, powerline trail, forest trails, video, lidar, imu, gps, barometric pressure, stereo and monocular cameras

Bibtex:
@InProceedings{bruce:icra15workshop,
author= {Jake Bruce and Jens Wawerla and Richard T. Vaughan},
title= {The SFU Mountain Dataset: Semi-Structured Woodland Trails Under Changing Environmental Conditions},
Booktitle= {Workshop on Visual Place Recognition in Changing Environments at the IEEE International Conference on Robotics and Automation (ICRA'15 workshop), Seattle, WA, USA},
month= {May},
year= {2015},
url= {http://autonomylab.org/sfu-mountain-dataset},
license= {https://creativecommons.org/licenses/by/4.0},
abstract= {Note: If you want only a subset of the data presented here (just the ROS bags, but not the extracted JPEGs and CSVs for example, since there is some duplication), you can set your torrent client to download only the files you are interested in.

License: This data is licensed under the Creative Commons - Attribution 4.0 International License: https://creativecommons.org/licenses/by/4.0.

We present a novel long-term dataset of semistructured woodland terrain under varying lighting and weather conditions and with changing vegetation, infrastructure, and pedestrian traffic. This dataset is intended to aid the development of field robotics algorithms for long-term deployment in challenging outdoor environments. It includes more than 8 hours of trail navigation, with more available in the future as the environment changes. The data consist of readings from calibrated and synchronized sensors operating at 5 Hz to 50 Hz in the form of color stereo and grayscale monocular camera images, vertical and push-broom laser scans, GPS locations, wheel odometry, inertial measurements, and barometric pressure values. Each traversal covers approximately 4 km across three diverse woodland trail environments, and we have recorded under four different lighting and weather conditions to date: dry; wet; dusk; night. We also provide 383 hand-matched location correspondences between traversals as ground-truth for benchmarking place recognition and mapping algorithms. This paper describes the configuration of the vehicle, the trail environments covered, and the format of the data we provide.},
keywords= {Computer Science, robotics, Burnaby Mountain, Trans-Canada Trail, powerline trail, forest trails, video, lidar, imu, gps, barometric pressure, stereo and monocular cameras},
terms= {}
}

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