A High-rate, Heterogeneous Data Set From The DARPA Urban Challenge

This paper describes a data set collected by MIT’s autonomous vehicle Talos during the 2007 DARPA Urban Challenge. Data from a high-precision navigation system, five cameras, 12 SICK planar laser range scanners, and a Velodyne high-density laser range scanner were synchronized and logged to disk for 90 km of travel. In addition to documenting a number of large loop closures useful for developing mapping and localization algorithms, this data set also records the first robotic traffic jam and two autonomous vehicle collisions. It is our hope that this data set will be useful to the autonomous vehicle community, especially those developing robotic perception capabilities.