README.md

UTBM Multisensor ROS-based Dataset for Autonomous Driving

Zhi Yan, Li Sun, Tomas Krajnik, and Yassine Ruichek

Dataset

https://epan-utbm.github.io/utbm_robocar_dataset/

Baselines

We forked the implementation of the following state-of-the-art methods and experimented (with minor changes) with our dataset:

• Lidar odometry: /~https://github.com/laboshinl/loam_velodyne
• Lidar odometry: /~https://github.com/RobustFieldAutonomyLab/LeGO-LOAM
• Visual odometry: /~https://github.com/raulmur/ORB_SLAM2

All users are more than welcome to commit their results.

Ground-truth trajectories recorded by GPS/RTK

loam_velodyne (lidar odometry)

How to play

roslaunch loam_velodyne loam_velodyne_utbm.launch bag:=path_to_your_rosbag

loam_velodyne_utbm.launch is here.

Evaluation

First of all, you should have something like this:

Then, /aft_mapped_to_init(nav_msgs/Odometry) is the output lidar odometry that needs to be evaluated.

Single Velodyne HDL-32E (left)

LeGO-LOAM (lidar odometry)

How to play

roslaunch lego_loam lego_loam_utbm.launch bag:=path_to_your_rosbag

lego_loam_utbm.launch is here.

Evaluation

First of all, you should have something like this:

Then, /aft_mapped_to_init(nav_msgs/Odometry) is the output lidar odometry that needs to be evaluated.

Single Velodyne HDL-32E (left)