Raw_data_Batch_I: Downers Grove to Darien

Date of collection: May 11, 2023
Location: Downers Grove to Darien, IL

This dataset contains lidar and vision data collected in Downers Grove and Darien, IL. The vehicle started in Downers Grove at the intersection of Main and Ogden, headed east. At the intersection of Odgen and IL 83, it then headed south until IL 33 and then west along IL 33 until the intersection of IL 33 and Lemont Road. It then headed north along Lemont Road/Main Street until the intersection of Main and Ogden.

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.