Papers
arxiv:2009.06364

4Seasons: A Cross-Season Dataset for Multi-Weather SLAM in Autonomous Driving

Published on Sep 14, 2020
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Abstract

A new dataset for autonomous driving provides globally consistent poses under diverse conditions and supports research in visual odometry, global place recognition, and map-based re-localization.

AI-generated summary

We present a novel dataset covering seasonal and challenging perceptual conditions for autonomous driving. Among others, it enables research on visual odometry, global place recognition, and map-based re-localization tracking. The data was collected in different scenarios and under a wide variety of weather conditions and illuminations, including day and night. This resulted in more than 350 km of recordings in nine different environments ranging from multi-level parking garage over urban (including tunnels) to countryside and highway. We provide globally consistent reference poses with up-to centimeter accuracy obtained from the fusion of direct stereo visual-inertial odometry with RTK-GNSS. The full dataset is available at https://go.vision.in.tum.de/4seasons.

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