NCLT Dataset

The University of Michigan North Campus Long-Term Vision and LIDAR Dataset.

Nicholas Carlevaris-Bianco

carlevar@umich.edu

Arash Ushani

aushani@umich.edu

Ryan M. Eustice

eustice@umich.edu


  • Sensors
  • Velodyne HDL-32E LIDAR
  • Ladybug3 Omnidirectional Vision
  • Microstrain GX3 IMU
  • KVH Fiber Optic Gyro
  • Wheel Odometry
  • Standard and RTK GPS
  • Data Collection
  • 27 Sessions: Varying route and time of day
  • 15 Months: Jan. 2012 to April 2013
  • Session Duration: ≈ 1.29 hours
  • Session Distance: ≈ 5.5 km
  • Total Duration: 34.9 hours
  • Total Distance: 147.4 km

Download the PDF (nclt.pdf), which provides a detailed description of the dataset. If you use this dataset in your research please cite:

Nicholas Carlevaris-Bianco, Arash K. Ushani, and Ryan M. Eustice, University of Michigan North Campus Long-Term Vision and Lidar Dataset, International Journal of Robotics Research, 2016. [BibTeX]

Feburary 4, 2017: The covariances for keyframes in the ground truth pose estimate has been added. These marginal covariances are extracted from the SLAM graph and recorded in the same format as other covariances in the dataset.

January 16, 2017: In Table 6, the x and y columns for the camera center coordinates is swapped. The correct values are given in cam_params.zip. Additionally, a python script demonstrating how to use the camera parameter files and project velodyne points to images has been added.

The NCLT Dataset is made available under the Open Database License (available here). Any rights in individual contents of the database are licensed under the Database Contents License (available here).

In short, this means that you are free to use this dataset, share, create derivative works, or adapt it, as long as you credit our work, offer any publically used adapted version of this dataset under the same license, and keep any redistribution of this dataset open.

When using the NCLT Dataset, please credit our work by citing the paper above.

Data

Session Images Sensors Velodyne Hokuyo Ground Truth Pose Ground Truth
Covariance
2012-01-08 lb3.tar.gz (106 GB) sen.tar.gz (79 MB) vel.tar.gz (16 GB) hokuyo.tar.gz (137 MB) groundtruth.csv (111 MB) cov.csv (448 KB)
2012-01-15 lb3.tar.gz (130 GB) sen.tar.gz (94 MB) vel.tar.gz (20 GB) hokuyo.tar.gz (157 MB) groundtruth.csv (132 MB) cov.csv (522 KB)
2012-01-22 lb3.tar.gz (92 GB) sen.tar.gz (74 MB) vel.tar.gz (15 GB) hokuyo.tar.gz (126 MB) groundtruth.csv (103 MB) cov.csv (421 KB)
2012-02-02 lb3.tar.gz (105 GB) sen.tar.gz (82 MB) vel.tar.gz (16 GB) hokuyo.tar.gz (148 MB) groundtruth.csv (115 MB) cov.csv (427 KB)
2012-02-04 lb3.tar.gz (85 GB) sen.tar.gz (66 MB) vel.tar.gz (13 GB) hokuyo.tar.gz (118 GB) groundtruth.csv (92 MB) cov.csv (383 KB)
2012-02-05 lb3.tar.gz (109 GB) sen.tar.gz (79 MB) vel.tar.gz (16 GB) hokuyo.tar.gz (136 MB) groundtruth.csv (110 MB) cov.csv (451 KB)
2012-02-12 lb3.tar.gz (101 GB) sen.tar.gz (72 MB) vel.tar.gz (15 GB) hokuyo.tar.gz (113 MB) groundtruth.csv (101 MB) cov.csv (396 KB)
2012-02-18 lb3.tar.gz (102 GB) sen.tar.gz (75 MB) vel.tar.gz (15 GB) hokuyo.tar.gz (135 MB) groundtruth.csv (105 MB) cov.csv (425 KB)
2012-02-19 lb3.tar.gz (101 GB) sen.tar.gz (75 MB) vel.tar.gz (15 GB) hokuyo.tar.gz (126 MB) groundtruth.csv (105 MB) cov.csv (422 KB)
2012-03-17 lb3.tar.gz (100 GB) sen.tar.gz (70 MB) vel.tar.gz (13 GB) hokuyo.tar.gz (118 MB) groundtruth.csv (98 MB) cov.csv (401 KB)
2012-03-25 lb3.tar.gz (107 GB) sen.tar.gz (67 MB) vel.tar.gz (13 GB) hokuyo.tar.gz (90 MB) groundtruth.csv (95 MB) cov.csv (401 KB)
2012-03-31 lb3.tar.gz (95 GB) sen.tar.gz (74 MB) vel.tar.gz (95 GB) hokuyo.tar.gz (132 MB) groundtruth.csv (103 MB) cov.csv (413 KB)
2012-04-29 lb3.tar.gz (87 GB) sen.tar.gz (36 MB) vel.tar.gz (8 GB) hokuyo.tar.gz (57 MB) groundtruth.csv (51 MB) cov.csv (343 KB)
2012-05-11 lb3.tar.gz (105 GB) sen.tar.gz (72 MB) vel.tar.gz (14 GB) hokuyo.tar.gz (95 MB) groundtruth.csv (100 MB) cov.csv (418 KB)
2012-05-26 lb3.tar.gz (87 GB) sen.tar.gz (74 MB) vel.tar.gz (15 GB) hokuyo.tar.gz (130 MB) groundtruth.csv (104 MB) cov.csv (433 KB)
2012-06-15 lb3.tar.gz (94 GB) sen.tar.gz (45 MB) vel.tar.gz (10 GB) hokuyo.tar.gz (81 MB) groundtruth.csv (64 MB) cov.csv (396 KB)
2012-08-04 lb3.tar.gz (90 GB) sen.tar.gz (67 MB) vel.tar.gz (14 GB) hokuyo.tar.gz (133 MB) groundtruth.csv (94 MB) cov.csv (380 KB)
2012-08-20 lb3.tar.gz (89 GB) sen.tar.gz (69 MB) vel.tar.gz (15 GB) hokuyo.tar.gz (129 MB) groundtruth.csv (94 MB) cov.csv (416 KB)
2012-09-28 lb3.tar.gz (84 GB) sen.tar.gz (64 MB) vel.tar.gz (13 GB) hokuyo.tar.gz (126 MB) groundtruth.csv (90 MB) cov.csv (387 KB)
2012-10-28 lb3.tar.gz (98 GB) sen.tar.gz (71 MB) vel.tar.gz (14 GB) hokuyo.tar.gz (138 MB) groundtruth.csv (100 MB) cov.csv (394 KB)
2012-11-04 lb3.tar.gz (88 GB) sen.tar.gz (66 MB) vel.tar.gz (13 GB) hokuyo.tar.gz (128 MB) groundtruth.csv (93 MB) cov.csv (335 KB)
2012-11-16 lb3.tar.gz (89 GB) sen.tar.gz (68 MB) vel.tar.gz (13 GB) hokuyo.tar.gz (137 MB) groundtruth.csv (95 MB) cov.csv (337 KB)
2012-11-17 lb3.tar.gz (107 GB) sen.tar.gz (74 MB) vel.tar.gz (14 GB) hokuyo.tar.gz (133 MB) groundtruth.csv (103 MB) cov.csv (400 KB)
2012-12-01 lb3.tar.gz (94 GB) sen.tar.gz (63 MB) vel.tar.gz (12 GB) hokuyo.tar.gz (126 MB) groundtruth.csv (89 MB) cov.csv (348 KB)
2013-01-10 lb3.tar.gz (37 GB) sen.tar.gz (14 MB) vel.tar.gz (3 GB) hokuyo.tar.gz (26 MB) groundtruth.csv (20 MB) cov.csv (80 KB)
2013-02-23 lb3.tar.gz (88 GB) sen.tar.gz (66 MB) vel.tar.gz (15 GB) hokuyo.tar.gz (120 MB) groundtruth.csv (93 MB) cov.csv (368 KB)
2013-04-05 lb3.tar.gz (88 GB) sen.tar.gz (58 MB) vel.tar.gz (13 GB) hokuyo.tar.gz (92 MB) groundtruth.csv (81 MB) cov.csv (317 KB)

Python Downloader

For systems with python and wget, we provide a downloader script (downloader.py) that can be used to download different subsets of the data. In this script wget calls are made with the --continue flag, which allows you to restart a download if the connection is interrupted. Example usage:

Download the entire dataset

./downloader.py --all

Download all data from 2012-01-08

./downloader.py --date="2012-01-08" --all

Download all sensor data

./downloader.py --sen

Download imagery from 2012-01-08

./downloader.py --date="2012-01-08" --lb3

Download imagery and Velodyne data from 2012-01-08

./downloader.py --date="2012-01-08" --lb3 --vel

LadyBug3 Parameters and Undistort Maps

Camera Parameters cam_params.zip (2 KB)
All Maps U2D_ALL_1616X1232.tar.gz (151 MB) D2U_ALL_1616X1232.tar.gz (148 MB)
Cam 0 U2D_Cam0_1616X1232.txt (61 MB) D2U_Cam0_1616X1232.txt (61 MB)
Cam 1 U2D_Cam1_1616X1232.txt (61 MB) D2U_Cam1_1616X1232.txt (61 MB)
Cam 2 U2D_Cam2_1616X1232.txt (61 MB) D2U_Cam2_1616X1232.txt (61 MB)
Cam 3 U2D_Cam3_1616X1232.txt (61 MB) D2U_Cam3_1616X1232.txt (61 MB)
Cam 4 U2D_Cam4_1616X1232.txt (61 MB) D2U_Cam4_1616X1232.txt (61 MB)
Cam 5 U2D_Cam5_1616X1232.txt (61 MB) D2U_Cam5_1616X1232.txt (61 MB)

Sample Python Scripts

File Description
python.tar.gz All sample python scripts
read_gps.py Read GPS from data file
read_hokuyo_30m.py Read Hokuyo UTM-30LX from data file
read_hokuyo_4m.py Read Hokuyo URG-04LX from data file
read_ms25.py Read Microstrain data from data file
read_ms25_euler.py Read Microstrain raw Euler angles from data file
read_odom.py Read odometry from data file
read_vel_hits.py Read Velodyne data from data file
read_vel_sync.py Read one revolution of Velodyne from data file
project_vel_to_cam.py Project velodyne points to camera image
Undistort.py Undistort LadyBug3 images
gps_to_rosbag.py Convert GPS file to ROSbag
hokuyo_30m_to_rosbag.py Convert Hokuyo UTM-30LX file to ROSbag
hokuyo_4m_to_rosbag.py Convert Hokuyo URG-04LX file to ROSbag
ms25_euler_to_rosbag.py Convert Microstrain Euler file to ROSbag
ms25_to_rosbag.py Convert Microstrain file to ROSbag
vel_to_rosbag.py Convert Velodyne file to ROSbag
sensordata_to_rosbag.py Convert all sensor data to ROSbag

Other Files

File Description
segway_cad.tar.gz Solidworks CAD Model of the Segway
laser_angles.csv Laser angles for the Velodyne
DSP3000_Manual.pdf KVH DSP-3000 Fiber Optic Gyro Technical Manual
URG-04LX_spec_en.pdf Scanning Laser Range Finder URG-04LX Specification
UTM-30LX_spec_en.pdf Scanning Laser Range Finder UTM-30LX/LN Specification
GPS_18x_Tech_Specs.pdf GPS 18x Technical Specifications
3DM-GX3-45-Theory_of_Operation.pdf 3DM-GX3-45 Theory of Operation
Ladybug3-Technical-Reference.pdf Ladybug3 Technical Reference Manual
HDL-32E_manual.pdf User's Manual and Programming Guide: HDL-32E High Definition LiDAR Sensor
dl4_manual.pdf DL-4plus User Manual