Embedded Files
Mountain
Location : Gwanak, Seoul (Mountain)
Target : Odometry, Online place recognition
Complexity : ★★★
01_Day
Path Length : 4 km
Weather : Clear
Detail : Mountain captures a driving sequence on Gwanak Mountain, the highest elevation difference among all sequences. The route includes speed bumps and rough roads, causing significant rolling and pitching.
03_Day
Path Length :3 km
Weather : Snow
Detail : Mountain captures a driving sequence on Gwanak Mountain, the highest elevation difference among all sequences. The route includes speed bumps and rough roads, causing significant rolling and pitching.
02_Night
Path Length : 4 km
Weather : Cloud
Detail : Mountain captures a driving sequence on Gwanak Mountain, the highest elevation difference among all sequences. The route includes speed bumps and rough roads, causing significant rolling and pitching.
Library
Location : Gwanak, Seoul (Mountain)
Target : Odometry, Online place recognition
Complexity : ★★★
01_Day
Path Length : 1.6 km
Weather : Clear
Detail : Library captures sequences from a long, narrow, one-way path near the library on campus. The route involves two loops for loop closure with sequences recorded in clear afternoon and cloudy night. The path is narrow and includes steep curves with uphill and downhill sections.
03_Day
Path Length : 0.8 km
Weather : Snow
Detail : Library captures sequences from a long, narrow, one-way path near the library on campus. The route involves two loops for loop closure with sequences recorded in clear afternoon and cloudy night. The path is narrow and includes steep curves with uphill and downhill sections.
02_Night
Path Length : 1.6 km
Weather : Cloud
Detail : Library captures sequences from a long, narrow, one-way path near the library on campus. The route involves two loops for loop closure with sequences recorded in clear afternoon and cloudy night. The path is narrow and includes steep curves with uphill and downhill sections.
Sports Complex
Location : Gwanak, Seoul (Mountain)
Target : Odometry, Online place recognition
Complexity : ★★★
01_Day
Path Length : 1.4 km
Weather : Clear
Detail : Sports Complex captures sequences around a sports complex, including parking areas and roads with flat, gently sloped, and steep sections. Two loops with an average speed below 30 km/h were recorded during the day and night.
03_Day
Path Length : 1.4 km
Weather : Snow
Detail : Sports Complex captures sequences around a sports complex, including parking areas and roads with flat, gently sloped, and steep sections. Two loops with an average speed below 30 km/h were recorded during the day and night.
02_Night
Path Length : 0.7 km
Weather : Cloud
Detail : Sports Complex captures sequences around a sports complex, including parking areas and roads with flat, gently sloped, and steep sections. Two loops with an average speed below 30 km/h were recorded during the day and night.
Parking Lot
Location : Gwanak, Seoul (Mountain)
Target : Odometry, Global localization
Complexity : ★★
01_Day
Path Length : 0.4 km
Weather : Clear
Detail : Parking Lot captures sequences from a parking lot with many left turns. While the ground appears flat, slight elevation variations are noted. This sequence has the shortest distance among all.
03_Night
Path Length : 0.5 km
Weather : Cloud
Detail : Parking Lot captures sequences from a parking lot with many left turns. While the ground appears flat, slight elevation variations are noted. This sequence has the shortest distance among all.
02_Day
Path Length : 0.4 km
Weather : Clear
Detail : Parking Lot captures sequences from a parking lot with many left turns. While the ground appears flat, slight elevation variations are noted. This sequence has the shortest distance among all.
04_Day
Path Length : 0.4 km
Weather : Snow
Detail : Parking Lot captures sequences from a parking lot with many left turns. While the ground appears flat, slight elevation variations are noted. This sequence has the shortest distance among all.
River Island
Location : Yeouido, Seoul (Island)
Target : Odometry, Global localization
Complexity : ★★★★
01_Day
Path Length : 4 km
Weather : Clear
Detail : River Island captures three sequences for multi-session place recognition, recorded during the day and dusk, with each route uniquely designed. The flat area features various driving paths, including intersections and two-lane one-way roads.
03_Day
Path Length : 5.8 km
Weather : Cloud
Detail : River Island captures three sequences for multi-session place recognition, recorded during the day and dusk, with each route uniquely designed. The flat area features various driving paths, including intersections and two-lane one-way roads.
02_Dusk
Path Length : 8 km
Weather : Cloud
Detail : River Island captures three sequences for multi-session place recognition, recorded during the day and dusk, with each route uniquely designed. The flat area features various driving paths, including intersections and two-lane one-way roads.
Bridge
Location : Yeouido, Seoul (Wonhyo Bridge)
Target : Odometry, Online place recognition
Complexity : ★★★
01_Day
Path Length : 4.9 km
Weather : Rain
Detail : Bridge captures sequences for place recognition research, driven back and forth along a four-lane overpass and the Wonhyo Bridge over the Han River. It includes sequences recorded on a rainy afternoon and cloudy dusk, with an average speed of 60 km/h, and sections featuring traffic congestion in urban environments.
02_Night
Path Length : 4.9 km
Weather : Cloud
Detail : Bridge captures sequences for place recognition research, driven back and forth along a four-lane overpass and the Wonhyo Bridge over the Han River. It includes sequences recorded on a rainy afternoon and cloudy dusk, with an average speed of 60 km/h, and sections featuring traffic congestion in urban environments.
Street
Location : Yeouido, Seoul
Target : Odometry
Complexity : ★★★★
01_Day
Path Length : 1 km
Weather : Rain
Detail : Street captures a sequence of driving in heavy congestion and rain near IFC Seoul during rush hour. Due to the crowds and numerous vehicles, there are many dynamic objects, leading to frequent stops.
Stream
Location : Sillim, Seoul (Bongcheon stream)
Target : Odometry, Online place recognition
Complexity : ★★★★
01_Day
Path Length : 4.2 km
Weather : Clear
Detail : Stream captures an S-shaped stream route that is driven during the day and night. One-way roads run along both sides of the stream, with U-turns via bridges. For place recognition research, intentional revisits were designed, resulting in similar environments.
02_Night
Path Length : 5.5 km
Weather : Cloud
Detail : Stream captures an S-shaped stream route that is driven during the day and night. One-way roads run along both sides of the stream, with U-turns via bridges. For place recognition research, intentional revisits were designed, resulting in similar environments.
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