Raw_data_Batch_I: Lisle to Waterfall Glen

Date of collection: May 11, 2023
Location: DuPage County, IL

This dataset contains lidar and vision data collected between Lisle, IL, and the Waterfall Glen parking lot. The vehicle started near Cass School District 63, headed east along IL 34. The vehicle then turned south along IL 83 until Interstate 55. Finally, the vehicle turned southwest along I 55 until Exit 273A and headed toward the Waterfall Glen parking lot.

The data contains the following Robot Operating System (ROS) topics:

- /Central_Camera_blurred – Image flow from coaxial camera heading, vehicle front.
- /Left_Camera_blurred – Image flow from left camera, 60° from central camera on the left side.
- /Right_Camera_blurred – Image flow from right camera, 60° from central camera on the right side.
- /camera0/camera_info – Intrinsic and distortion information of left camera.
- /camera0/projection_matrix – Extrinsic matrix of left camera from lidar.
- /camera2/camera_info – Intrinsic and distortion information of central camera.
- /camera2/projection_matrix – Extrinsic matrix of central camera from lidar.
- /camera5/camera_info – Intrinsic and distortion information of right camera.
- /camera5/projection_matrix – Extrinsic matrix of right camera from lidar.
- /novatel/oem7/bestpos – Latitude, longitude, and elevation information from NovAtel GNSS-INS system.
- /points_raw – VLP-32 lidar point cloud.
- /tf – Vehicle base frame.

The data are organized into a data description file and one or more ROS .bag files, dependent on original file size. The data description file provides information about the data collection date, location, and detailed mapping, while the .bag file(s) contain the actual data. Please note that for the purpose of securing personally identifiable information, all license plates and faces included in this publication have been intentionally blurred during real-time processing.


数据集采集日期：2023年5月11日
采集地点：伊利诺伊州杜佩奇县（DuPage County, IL）

本数据集包含在伊利诺伊州利斯尔镇（Lisle, IL）至瀑布峡谷停车场之间采集的激光雷达与视觉数据。数据采集车辆从卡斯第63学区（Cass School District 63）附近出发，沿伊利诺伊州34号公路（IL 34）向东行驶，随后沿伊利诺伊州83号公路（IL 83）向南行驶至55号州际公路（Interstate 55），最后沿55号州际公路向西南方向行驶至273A号出口，驶向瀑布峡谷停车场。

该数据集包含以下机器人操作系统（Robot Operating System, ROS）话题：
- "/Central_Camera_blurred"：对应车辆正前方的同轴相机采集的图像流，已做模糊处理。
- "/Left_Camera_blurred"：左侧相机采集的图像流，相对于中央相机向左偏移60°。
- "/Right_Camera_blurred"：右侧相机采集的图像流，相对于中央相机向右偏移60°。
- "/camera0/camera_info"：左侧相机的内参与畸变参数信息。
- "/camera0/projection_matrix"：左侧相机相对于激光雷达的外参矩阵。
- "/camera2/camera_info"：中央相机的内参与畸变参数信息。
- "/camera2/projection_matrix"：中央相机相对于激光雷达的外参矩阵。
- "/camera5/camera_info"：右侧相机的内参与畸变参数信息。
- "/camera5/projection_matrix"：右侧相机相对于激光雷达的外参矩阵。
- "/novatel/oem7/bestpos"：NovAtel GNSS-惯性导航系统采集的纬度、经度与高程信息。
- "/points_raw"：VLP-32型激光雷达点云数据。
- "/tf"：车辆基坐标系。

数据以数据说明文件与一个或多个ROS .bag文件进行组织，具体文件数量取决于原始采集文件的大小。数据说明文件会提供数据集的采集日期、地点与详细采集路线信息，而.bag文件则存储实际的采集数据。请注意，为保护个人可识别信息，本公开数据中包含的所有车牌与人脸均已在实时处理阶段进行了模糊处理。