Boreas Autonomous Driving Dataset

Stream data with DDA:

from dagshub.streaming import DagsHubFilesystem

fs = DagsHubFilesystem(".", repo_url="https://dagshub.com/DagsHub-Datasets/boreas-dataset")

fs.listdir("s3://boreas")

Description:

This autonomous driving dataset includes data from a 128-beam Velodyne Alpha-Prime lidar, a 5MP Blackfly camera, a 360-degree Navtech radar, and post-processed Applanix POS LV GNSS data. This dataset was collect in various weather conditions (sun, rain, snow) over the course of a year. The intended purpose of this dataset is to enable benchmarking of long-term all-weather odometry and metric localization across various sensor types. In the future, we hope to also support an object detection benchmark.

Contact:

This autonomous driving dataset includes data from a 128-beam Velodyne Alpha-Prime lidar, a 5MP Blackfly camera, a 360-degree Navtech radar, and post-processed Applanix POS LV GNSS data. This dataset was collect in various weather conditions (sun, rain, snow) over the course of a year. The intended purpose of this dataset is to enable benchmarking of long-term all-weather odometry and metric localization across various sensor types. In the future, we hope to also support an object detection benchmark.

Update Frequency:

New driving sequences will be added as they are collected.

Managed By:

http://asrl.utias.utoronto.ca

Resources:

1. resource:
   • Description: Boreas dataset
   • ARN: arn:aws:s3:::boreas
   • Region: us-west-2
   • Type: S3 Bucket

Tags:

autonomous vehicles, robotics, computer vision, lidar, aws-pds

Tutorials:

1. tutorial:
   • Title: Introduction to Visualizing Sensor Types (Jupyter notebook)
   • URL: https://github.com/utiasASRL/pyboreas/blob/master/pyboreas/tutorials/intro.ipynb
   • AuthorName: Keenan Burnett
   • Services: SageMaker
2. tutorial:
   • Title: Project Lidar onto Camera Frames (Jupyter notebook)
   • URL: https://github.com/utiasASRL/pyboreas/blob/master/pyboreas/tutorials/lidar_camera_projection.ipynb
   • AuthorName: Keenan Burnett
   • Services: SageMaker

Publication:

1. publication:

   • Title: Do we need to compensate for motion distortion and doppler effects in spinning radar navigation?
   • URL: https://www.dynsyslab.org/wp-content/papercite-data/pdf/burnett-ral21.pdf
   • AuthorName: K. Burnett, A. P. Schoellig, T. D. Barfoot

2. publication:

   • Title: Radar odometry combining probabilistic estimation and unsupervised feature learning
   • URL: https://arxiv.org/pdf/2105.14152.pdf
   • AuthorName: K. Burnett, D. J. Yoon, A. P. Schoellig, T. D. Barfoot