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
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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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