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



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sfu-mountain-torrent (311 files)
bags/dry-a.bag27.32GB
bags/dry-a.bag.md5sum0.04kB
bags/dry-b.bag16.36GB
bags/dry-b.bag.md5sum0.04kB
bags/dusk-a.bag25.80GB
bags/dusk-a.bag.md5sum0.05kB
bags/dusk-b.bag11.72GB
bags/dusk-b.bag.md5sum0.05kB
bags/night-a.bag12.23GB
bags/night-a.bag.md5sum0.05kB
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bags/night-b.bag.md5sum0.05kB
bags/wet-a.bag29.69GB
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barometric_pressure-dry-b.tgz382.17kB
barometric_pressure-dusk-a.tgz590.45kB
barometric_pressure-dusk-b.tgz397.30kB
barometric_pressure-night-a.tgz656.18kB
barometric_pressure-night-b.tgz435.50kB
barometric_pressure-wet-a.tgz628.18kB
barometric_pressure-wet-b.tgz412.63kB
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camera_port-dry-a-100th.tar79.85MB
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camera_port-dry-b-10th.tar519.76MB
camera_port-dry-b-100th.tar51.76MB
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camera_port-dusk-a-10th.tar662.53MB
camera_port-dusk-a-100th.tar66.26MB
camera_port-dusk-a.tar6.63GB
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camera_port-dusk-b-100th.tar39.11MB
camera_port-dusk-b.tar3.91GB
camera_port-night-a-10th.tar334.71MB
camera_port-night-a-100th.tar33.44MB
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camera_port-night-b-100th.tar23.39MB
camera_port-night-b.tar2.34GB
camera_port-wet-a-10th.tar748.95MB
camera_port-wet-a-100th.tar74.86MB
camera_port-wet-a.tar7.49GB
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camera_port-wet-b-100th.tar55.65MB
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camera_rear-dry-a-100th.tar75.07MB
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camera_rear-dry-b-10th.tar484.20MB
camera_rear-dry-b-100th.tar48.31MB
camera_rear-dry-b.tar4.84GB
camera_rear-dusk-a-10th.tar673.89MB
camera_rear-dusk-a-100th.tar67.50MB
camera_rear-dusk-a.tar6.74GB
camera_rear-dusk-b-10th.tar275.27MB
camera_rear-dusk-b-100th.tar27.58MB
camera_rear-dusk-b.tar2.75GB
camera_rear-night-a-10th.tar217.13MB
camera_rear-night-a-100th.tar21.71MB
camera_rear-night-a.tar2.17GB
camera_rear-night-b-10th.tar140.24MB
camera_rear-night-b-100th.tar14.00MB
camera_rear-night-b.tar1.40GB
camera_rear-wet-a-10th.tar802.61MB
camera_rear-wet-a-100th.tar80.23MB
camera_rear-wet-a.tar8.03GB
camera_rear-wet-b-10th.tar353.86MB
camera_rear-wet-b-100th.tar35.45MB
camera_rear-wet-b.tar3.54GB
camera_starboard-dry-a-10th.tar778.80MB
camera_starboard-dry-a-100th.tar77.82MB
camera_starboard-dry-a.tar7.79GB
camera_starboard-dry-b-10th.tar503.45MB
camera_starboard-dry-b-100th.tar50.37MB
camera_starboard-dry-b.tar5.04GB
camera_starboard-dusk-a-10th.tar775.00MB
camera_starboard-dusk-a-100th.tar77.38MB
camera_starboard-dusk-a.tar7.75GB
camera_starboard-dusk-b-10th.tar382.26MB
camera_starboard-dusk-b-100th.tar38.20MB
camera_starboard-dusk-b.tar3.82GB
camera_starboard-night-a-10th.tar396.84MB
camera_starboard-night-a-100th.tar39.64MB
camera_starboard-night-a.tar3.97GB
camera_starboard-night-b-10th.tar233.33MB
camera_starboard-night-b-100th.tar23.29MB
camera_starboard-night-b.tar2.33GB
camera_starboard-wet-a-10th.tar1.00GB
camera_starboard-wet-a-100th.tar100.18MB
camera_starboard-wet-a.tar10.02GB
camera_starboard-wet-b-10th.tar546.22MB
camera_starboard-wet-b-100th.tar54.48MB
camera_starboard-wet-b.tar5.46GB
camera_stereo-dry-a-10th.tar1.59GB
camera_stereo-dry-a-100th.tar158.99MB
camera_stereo-dry-a.tar15.89GB
camera_stereo-dry-b-10th.tar838.97MB
camera_stereo-dry-b-100th.tar83.90MB
camera_stereo-dry-b.tar8.39GB
camera_stereo-dusk-a-10th.tar1.58GB
camera_stereo-dusk-a-100th.tar157.94MB
camera_stereo-dusk-a.tar15.82GB
camera_stereo-dusk-b-10th.tar594.64MB
camera_stereo-dusk-b-100th.tar59.50MB
camera_stereo-dusk-b.tar5.95GB
camera_stereo-night-a-10th.tar869.88MB
camera_stereo-night-a-100th.tar86.74MB
camera_stereo-night-a.tar8.70GB
camera_stereo-night-b-10th.tar571.29MB
camera_stereo-night-b-100th.tar57.15MB
camera_stereo-night-b.tar5.71GB
camera_stereo-wet-a-10th.tar1.76GB
camera_stereo-wet-a-100th.tar175.54MB
camera_stereo-wet-a.tar17.57GB
camera_stereo-wet-b-10th.tar859.56MB
camera_stereo-wet-b-100th.tar86.08MB
camera_stereo-wet-b.tar8.60GB
camera_stereo_left-dry-a-10th.tar790.73MB
camera_stereo_left-dry-a-100th.tar79.16MB
camera_stereo_left-dry-a.tar7.91GB
camera_stereo_left-dry-b-10th.tar424.44MB
camera_stereo_left-dry-b-100th.tar42.49MB
camera_stereo_left-dry-b.tar4.24GB
camera_stereo_left-dusk-a-10th.tar771.74MB
camera_stereo_left-dusk-a-100th.tar77.10MB
camera_stereo_left-dusk-a.tar7.72GB
camera_stereo_left-dusk-b-10th.tar294.80MB
camera_stereo_left-dusk-b-100th.tar29.50MB
camera_stereo_left-dusk-b.tar2.95GB
camera_stereo_left-night-a-10th.tar433.47MB
camera_stereo_left-night-a-100th.tar43.25MB
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camera_stereo_left-night-b-10th.tar284.35MB
camera_stereo_left-night-b-100th.tar28.44MB
camera_stereo_left-night-b.tar2.84GB
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camera_stereo_left-wet-a-100th.tar85.61MB
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camera_stereo_left-wet-b-10th.tar422.83MB
camera_stereo_left-wet-b-100th.tar42.31MB
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camera_stereo_right-dry-a-10th.tar798.36MB
camera_stereo_right-dry-a-100th.tar79.82MB
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camera_stereo_right-dry-b-100th.tar41.40MB
camera_stereo_right-dry-b.tar4.15GB
camera_stereo_right-dusk-a-10th.tar810.12MB
camera_stereo_right-dusk-a-100th.tar80.83MB
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camera_stereo_right-dusk-b-10th.tar299.83MB
camera_stereo_right-dusk-b-100th.tar29.99MB
camera_stereo_right-dusk-b.tar3.00GB
camera_stereo_right-night-a-10th.tar436.40MB
camera_stereo_right-night-a-100th.tar43.48MB
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camera_stereo_right-night-b-10th.tar286.92MB
camera_stereo_right-night-b-100th.tar28.70MB
camera_stereo_right-night-b.tar2.87GB
camera_stereo_right-wet-a-10th.tar899.72MB
camera_stereo_right-wet-a-100th.tar89.93MB
camera_stereo_right-wet-a.tar9.00GB
camera_stereo_right-wet-b-10th.tar436.72MB
camera_stereo_right-wet-b-100th.tar43.76MB
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camera_upward-dry-a-10th.tar698.56MB
camera_upward-dry-a-100th.tar69.89MB
camera_upward-dry-a.tar6.99GB
camera_upward-dry-b-10th.tar432.66MB
camera_upward-dry-b-100th.tar43.16MB
camera_upward-dry-b.tar4.33GB
camera_upward-dusk-a-10th.tar640.39MB
camera_upward-dusk-a-100th.tar64.02MB
camera_upward-dusk-a.tar6.40GB
camera_upward-dusk-b-10th.tar296.82MB
camera_upward-dusk-b-100th.tar29.74MB
camera_upward-dusk-b.tar2.97GB
camera_upward-night-a-10th.tar172.83MB
camera_upward-night-a-100th.tar17.29MB
camera_upward-night-a.tar1.73GB
camera_upward-night-b-10th.tar106.34MB
camera_upward-night-b-100th.tar10.62MB
camera_upward-night-b.tar1.06GB
camera_upward-wet-a-10th.tar727.81MB
camera_upward-wet-a-100th.tar72.77MB
camera_upward-wet-a.tar7.28GB
camera_upward-wet-b-10th.tar476.68MB
camera_upward-wet-b-100th.tar47.71MB
camera_upward-wet-b.tar4.77GB
encoder-dry-a.tgz232.42kB
encoder-dry-b.tgz150.96kB
encoder-dusk-a.tgz233.05kB
encoder-dusk-b.tgz156.20kB
encoder-night-a.tgz234.03kB
encoder-night-b.tgz154.43kB
encoder-wet-a.tgz248.52kB
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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= {}
}