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. 

采集日期：2023年5月4日；采集地点：伊利诺伊州芝加哥市加菲尔德岭（Garfield Ridge）。
本数据集包含采集于芝加哥加菲尔德岭的激光雷达与视觉数据。车辆行驶路线如下：从加菲尔德岭与S. Harlem大道的交叉口出发，向东行驶至S. Central大道；随后沿S. Central大道向南行驶至西60街，向西行进后沿S. Austin大道向北转弯，继而向西驶入W. 59街；之后沿S. Harlem大道向北行驶，最终返回加菲尔德岭与S. Harlem大道的初始交叉口。

本数据集包含以下机器人操作系统（Robot Operating System, ROS）话题：
- /Central_Camera_blurred：车辆前置同轴相机的图像数据流（已做模糊处理）。
- /Left_Camera_blurred：左侧相机的图像数据流，与中心相机左侧夹角60°（已做模糊处理）。
- /Right_Camera_blurred：右侧相机的图像数据流，与中心相机右侧夹角60°（已做模糊处理）。
- /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、经度与海拔信息。
- /points_raw：VLP-32型激光雷达点云数据。
- /tf：车辆基础坐标系。

本数据集由一份数据说明文件与一个或多个ROS .bag格式文件组成，文件数量取决于原始采集文件的大小。数据说明文件包含数据采集日期、采集地点与详细行车路线信息，.bag格式文件则存储实际采集的原始数据。

请注意：为保护个人可识别信息，本数据集内出现的所有车牌与人脸均已在实时处理阶段做模糊处理。