Raw_data_Batch_I: Argonne to Shorewood via I-55

Date of collection: May 12, 2023 Location: Interstate 55, DuPage County, IL This data set contains lidar and vision data collected along a round trip between I-55 Exit 273A and Exit 253. 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12日；采集地点：伊利诺伊州杜佩奇县55号州际公路。本数据集包含往返于I-55的273A号出口与253号出口之间采集的激光雷达与视觉数据。数据集包含以下机器人操作系统（Robot Operating System，ROS）话题：
- /Central_Camera_blurred：对应车辆正前方同轴相机的图像流
- /Left_Camera_blurred：左侧相机的图像流，与中心相机呈60°左偏角
- /Right_Camera_blurred：右侧相机的图像流，与中心相机呈60°右偏角
- /camera0/camera_info：左侧相机的内参与畸变参数
- /camera0/projection_matrix：左侧相机相对于激光雷达的外参矩阵
- /camera2/camera_info：中心相机的内参与畸变参数
- /camera2/projection_matrix：中心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
- /camera5/projection_matrix：右侧相机相对于激光雷达的外参矩阵
- /novatel/oem7/bestpos：来自Novatel GNSS-INS组合导航系统的纬度、经度与高程信息
- /points_raw：VLP-32型激光雷达点云数据
- /tf：车辆基础坐标系

数据以数据描述文件与一个或多个ROS .bag文件的形式组织，具体文件数量取决于原始采集文件的大小。数据描述文件会提供数据采集日期、地点与详细映射信息，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，本数据集发布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化处理。