4Seasons: A Cross-Season Dataset for Multi-Weather SLAM in Autonomous Driving

• URL: http://arxiv.org/abs/2009.06364v2
• Date: Wed, 14 Oct 2020 13:30:00 GMT
• Title: 4Seasons: A Cross-Season Dataset for Multi-Weather SLAM in Autonomous Driving
• Authors: Patrick Wenzel, Rui Wang, Nan Yang, Qing Cheng, Qadeer Khan, Lukas von Stumberg, Niclas Zeller, Daniel Cremers
• Abstract summary: We present a novel dataset covering seasonal and challenging perceptual conditions for autonomous driving. Among others, it enables research on visual odometry, global place recognition, and map-based re-localization tracking.
• Score: 48.588254700810474
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: We present a novel dataset covering seasonal and challenging perceptual conditions for autonomous driving. Among others, it enables research on visual odometry, global place recognition, and map-based re-localization tracking. The data was collected in different scenarios and under a wide variety of weather conditions and illuminations, including day and night. This resulted in more than 350 km of recordings in nine different environments ranging from multi-level parking garage over urban (including tunnels) to countryside and highway. We provide globally consistent reference poses with up-to centimeter accuracy obtained from the fusion of direct stereo visual-inertial odometry with RTK-GNSS. The full dataset is available at https://www.4seasons-dataset.com.

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