CMHT Dataset: Driving dataset containing labeled and synchronized Lidar, Radar, IR, Camera, GPS/IMU recordings

Autonomous Driving dataset including camera, IR, Lidar, Radar, and GPS/IMU. This dataset contains fully synchronized and labeled Lidar and Radar point clouds, monocular and IR images, and GPS/IMU data recorded in the city of Hamilton Ontario, under various weather and lighting conditions. The data is available both labeled frame by frame and raw in the form of ROS2 bags for playback. The dataset is intended to be useful for research in the fields of autonomous driving, sensor fusion, computer vision, and signal processing.

搜集汇总

背景与挑战

背景概述

CMHT数据集是一个专注于自动驾驶研究的综合传感器数据集，包含激光雷达、雷达、红外、相机和GPS/IMU的同步标注记录，数据在加拿大安大略省汉密尔顿市采集，覆盖多种天气和光照条件。数据集以逐帧标注和ROS2原始数据包形式提供，总大小44.54 GB，适用于传感器融合、计算机视觉和信号处理等研究领域。