4Seasons: A Cross-Season Dataset for Multi-Weather SLAM in Autonomous Driving
Wenzel P, Wang R, Yang N, Cheng Q, Khan Q, von Stumberg L, Zeller N, Cremers D (2021)
Publication Type: Conference contribution
Publication year: 2021
Journal
Publisher: Springer Science and Business Media Deutschland GmbH
Book Volume: 12544 LNCS
Pages Range: 404-417
Conference Proceedings Title: Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Event location: Tübingen, DEU
ISBN: 9783030712778
DOI: 10.1007/978-3-030-71278-5_29
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.
Involved external institutions
Germany (DE)How to cite
APA:
Wenzel, P., Wang, R., Yang, N., Cheng, Q., Khan, Q., von Stumberg, L.,... Cremers, D. (2021). 4Seasons: A Cross-Season Dataset for Multi-Weather SLAM in Autonomous Driving. In Zeynep Akata, Andreas Geiger, Torsten Sattler (Eds.), Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (pp. 404-417). Tübingen, DEU: Springer Science and Business Media Deutschland GmbH.
MLA:
Wenzel, Patrick, et al. "4Seasons: A Cross-Season Dataset for Multi-Weather SLAM in Autonomous Driving." Proceedings of the 42nd German Conference on Pattern Recognition, DAGM GCPR 2020 held in parallel with 25th International Symposium on Vision, Modeling, and Visualization, VMV 2020 and 10th Eurographics Workshop on Visual Computing for Biology and Medicine, VCBM 2020, Tübingen, DEU Ed. Zeynep Akata, Andreas Geiger, Torsten Sattler, Springer Science and Business Media Deutschland GmbH, 2021. 404-417.
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