Complex Urban Dataset

News

Aug. 2021: We moved this dataset page from the original site, https://irap.kaist.ac.kr/dataset/index.html which will be deprecated.

This dataset provides LiDAR and stereo images with various position sensors targeting a highly complex urban environment.
The presented dataset captures features in urban environments (e.g. metropolis areas, complex buildings and residential areas).
Raw sensor data for vehicle navigation is presented in a file format. For convenience, development tools are provided in the Robot Operating System (ROS) environment.

Take a quick-exploration of our dataset! (WebGL demo)

Authors
Current Maintainers

Jinyong Jeong, Younggun Cho, Young-Sik Shin, Hyunchul Roh and Ayoung Kim.
Hyesu Jang, Giseop Kim, Jinyong Jeong.

@ARTICLE { jjeong-2019-ijrr,

AUTHOR = { Jinyong Jeong and Younggun Cho and Young-Sik Shin and Hyunchul Roh and Ayoung Kim },

TITLE = { Complex Urban Dataset with Multi-level Sensors from Highly Diverse Urban Environments },

JOURNAL = { International Journal of Robotics Research },

YEAR = { 2019 },

VOLUME = { 38 },

NUMBER = { 6 },

PAGES = { 642--657 },

}

All datasets on this page are copyrighted by KAIST and Naver Labs and published under the Creative Commons Attribution-NonCommercial-ShareAlike 4.0 License. You must attribute the work in the manner specified by the author. You may not use the work for commercial purposes, and you may only distribute the resulting work under the same license if you alter, transform, or create the work.

This dataset is for non-commercial use only. However, if you find yourself or your personal belongings in the data, please contact us, and we will immediately remove the respective images from our servers.

This data set is based upon work supported by the Ministry of Trade, Industry & Energy (MOTIE), Korea under Industrial Technology Innovation Program (No.10051867) and SLAM-based Lane Map Generation for Complex Urban Environment project funded by Naver Labs Corporation.

08.11.2021: This google site was moved from the past (deprecated) domain https://irap.kaist.ac.kr/dataset/.
06.17.2019: Update baseline pose and pointcloud data of Urban00 ~ Urban17
06.04.2019: Update new dataset (Urban38, 39), Update refined extrinsic calibration parameter of stereo camera.
03.07.2019: Update dataset including stereo image.
02.05.2018: Update title of webpage.
04.25.2018: Upload additional data (urban10~urban17).
04.14.2018: Upload additional data (urban06~urban09).
04.14.2018: Update Las data and baseline data of urban00~05.
02.25.2018: Stabilized version of dataset are reuploaded.
02.25.2018: New dataset of KAIST campus is uploaded.
09.13.2017: Initial dataset are uploaded.