2015-06-11T21:31:14 n5850

Vehicle dataset: For vision-based place recognition with manually ground truthed frame correspondences

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This is a vehicle dataset for vision-based place recognition with manually ground truthed frame correspondences. The dataset was captured in two different conditions for the same route: one on a sunny day and one during a rainy night. Both datasets were taken in the suburb of Alderley, Queensland.

The dataset contains original .avi movie files as well as individual frames extracted from the video and compressed into zip files. A .csv file holds the frame correspondences, which is replicated in the MATLAB mat file (requires MATLAB to use). The frame correspondences can be visually validated using the MATLAB script PLAYBACK.m. This will play back the videos, aligned using the frame correspondences in fm.mat.

FRAMESA corresponds to the night time traverse and FRAMESB to the day time traverse.

Access rights

This dataset has been released for free and public use.

Location of data collection

kmlPolyCoords
153.009026,-27.412635 152.992409,-27.412635 152.992409,-27.437375 153.009026,-27.437375 153.009026,-27.412635

Publications

M. Milford, G. Wyeth, "SeqSLAM: Visual route-based navigation for sunny summer days and stormy winter nights", in IEEE International Conference on Robotics and Automation, St Paul, United States, 2012. http://eprints.qut.edu.au/51538/

Research areas

Electrical and Electronic Engineering
Spatial Data
Control Systems Robotics and Automation
Engineering

Cite this collection

M. Milford, G. Wyeth, "SeqSLAM: Visual route-based navigation for sunny summer days and stormy winter nights", in IEEE International Conference on Robotics and Automation, St Paul, United States, 2012.

Related information

M Milford, W Scheirer, E Vig, A Glover, O Baumann, J Mattingley, D Cox, "Condition-Invariant, Top-Down Visual Place Recognition", in IEEE International Conference on Robotics and Automation, Hong Kong, China, 2014. http://www.wjscheirer.com/papers/wjs_icra2014_place.pdf

Access the data

Licence


Creative Commons Attribution-NonCommercial 4.0 (CC-BY-NC)
http://creativecommons.org/licenses/by-nc/4.0/

Copyright

Dr. Michael Milford

Dates of data collection

From 2011-08-01 to 2011-08-31

Connections

Has association with
QUT CyPhy Lab   (Group)
Was collected by
Dr. Michael Milford  (Researcher)

Contacts

Phone: +61 7 3138 9969
Fax: +61 7 3138 1516

Other

Date record created:
2014-05-15T14:42:52
Date record modified:
2015-06-11T21:31:14
Record status:
Published - Open Access