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A vision dataset of a single route through the suburb of St Lucia, Queensland, Australia. The visual data was collected with a forward facing webcam attached to the roof of a car. The route was traversed at five different times during the day to capture the difference in appearance between early morning and late afternoon. The route was traversed again, another five times, two weeks later for a total of ten datasets. GPS data is included for each dataset.

Map of Route Traversed

Collection Vehicle

Example Image

Example GPS map

Use the following citation to reference the dataset in your published work BibEndnoteRis:

@inproceedings{Glover2010ICRA,
address = {Anchorage, USA},
author = {Arren Glover and Will Maddern and Michael Milford and Gordon Wyeth},
booktitle = {ICRA},
title = {{FAB-MAP + RatSLAM: Appearance-based SLAM for Multiple Times of Day}},
year = {2010}
}

Dataset

Each dataset is labelled with the date and time it was collected in the following format DD/MM/YY_24HOUR. Each dataset has 5 files.

  • (webcam_video.avi) video imagery. This file is compressed and no uncompressed version is available.
  • (gps_log.txt) raw GPS data as logged
  • (frame_log.txt) time stamps of each video frame compatible with GPS data
  • (fGPS.txt) processed version of GPS and frame time stamps providing the GPS point for each frame in the video file
  • (fGPS.mat) as above, saved for easy importation to MATLAB

The full dataset is split over 10 files:
190809_0845
210809_1000
210809_1210
190809_1410
180809_1545
100909_0845
100909_1000
100909_1210
100909_1410
110909_1545

Credits

Dataset Authors

Arren Glover arren.glover@iit.it
Will Maddern wm@robots.ox.ac.uk