Raw_data_Batch_I: Garfield Ridge

Date of collection: May 4, 2023
Location: Garfield Ridge, Chicago, IL

This data set contains lidar and vision data collected in Garfield Ridge, Chicago. The vehicle started from the intersection of Garfield Ridge and S. Harlem, headed east until S. Central Ave. The vehicle headed south along S. Central Ave. until West 60th Street, headed west, and turned north along S. Austin Ave. until it turned west onto W. 59th Street. The vehicle then headed north along S. Harlem Ave. and returned to the intersection of Garfield Ridge and S. Harlem.

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.