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