WPI VSLAM Dataset

Data Download

This dataset was collected on the second floor of the Atwater Kent Lab, WPI, Worcester, MA, USA.
For the project details please visit Our Lab Github Repo
The collected dataset in Rosbag format. [Download: 49.7 GB]
The sensor extrinsic calibration file between OS1-64 Lidar and Intel Realsense T265 camera. [Download: 67.7 MB]
The camera intrinsic calibration file for Intel Realsense T265 camera. [Download: 26.5 MB]
The camera-imu calibration Rosbag with undistored images for Intel Realsense T265 camera. [Download: 443MB]
The 3-hours static IMU Rosbag for Intel Realsense T265 camera. [Download: 811MB]

The training data are collected in Worcester, MA, USA during summer.
ROI Samples: Extracted from frames in Frames_GT_wHolder. Can be used for training classifier. [Download: 77.8 MB]

Training Data [Optional]
These data are optional and may be helpful. E.g., if one wants to investigate not only the traffic lights, but also the surrounding areas.
Many, if not all, the frames in Frames_GT_wHolder and Frames_GT_Lights are the same.
Frames_GT_wHolder: Whole frames with label. Each folder is a type of traffic lights with their holders, and only that type is labelled (Ground truth contain the traffic light holders). A frame contains multiple types of traffic lights may appear in different folders. [Download: 10.5 GB]
Frames_GT_Lights: Whole frames with label. These sequences are labelled for individual traffic lights of all types. Sequences 8,9,10 do not have traffic lights. [Download: 1.52 GB]

The test data are collected in Worcester, MA, USA during winter.
Test: Whole frames with label. These sequences are labelled for individual traffic lights of all types. Sequences 18,19,20,21,22,23 do not have traffic lights. [Download: 3.06 GB]

The training data are collected in Worcester, MA, USA.
In our paper, 19 sequences (seq3,6,9,...57) are used for test, the rest 29 sequences are used for training.
Data and Label. [Download: 4.56GB]