boreas.yaml

Name: Boreas Autonomous Driving Dataset
Description: This autonomous driving dataset includes data from a 128-beam Velodyne Alpha-Prime lidar, a 5MP Blackfly camera, a 360-degree Navtech radar, and post-processed Applanix POS LV GNSS data. This dataset was collect in various weather conditions (sun, rain, snow) over the course of a year. The intended purpose of this dataset is to enable benchmarking of long-term all-weather odometry and metric localization across various sensor types. In the future, we hope to also support an object detection benchmark.
Documentation: https://github.com/utiasASRL/pyboreas/blob/master/DATA_REFERENCE.md
Contact: boreas@robotics.utias.utoronto.ca
ManagedBy: "[ASRL](http://asrl.utias.utoronto.ca)"
UpdateFrequency: New driving sequences will be added as they are collected.
Tags:
  - autonomous vehicles
  - robotics
  - computer vision
  - lidar
  - aws-pds
License: "[CC BY 4.0](https://creativecommons.org/licenses/by/4.0/legalcode)"
Resources:
  - Description: Boreas dataset
    ARN: arn:aws:s3:::boreas
    Region: us-west-2
    Type: S3 Bucket
DataAtWork:
  Tutorials:
    - Title: Introduction to Visualizing Sensor Types (Jupyter notebook)
      URL: https://github.com/utiasASRL/pyboreas/blob/master/pyboreas/tutorials/intro.ipynb
      AuthorName: Keenan Burnett
      Services:
        - SageMaker
    - Title: Project Lidar onto Camera Frames (Jupyter notebook)
      URL: https://github.com/utiasASRL/pyboreas/blob/master/pyboreas/tutorials/lidar_camera_projection.ipynb
      AuthorName: Keenan Burnett 
      Services:
        - SageMaker
  Publications:
    - Title: Do we need to compensate for motion distortion and doppler effects in spinning radar navigation?
      URL: https://www.dynsyslab.org/wp-content/papercite-data/pdf/burnett-ral21.pdf
      AuthorName: K Burnett, A P Schoellig, T D Barfoot
    - Title: Radar odometry combining probabilistic estimation and unsupervised feature learning
      URL: https://arxiv.org/pdf/2105.14152.pdf
      AuthorName: K Burnett, D J Yoon, A P Schoellig, T D Barfoot
    - Title: "Boreas: A multi-season autonomous driving dataset"
      URL: https://arxiv.org/abs/2203.10168
      AuthorName: K Burnett, D J Yoon, Y Wu, A Z Li, H Zhang, S Lu, J Qian, W Tseng, A Lambert, K YK Leung, A P Schoellig, Timothy D Barfoot
    - Title: Are We Ready for Radar to Replace Lidar in All-Weather Mapping and Localization?
      URL: https://arxiv.org/abs/2203.10174
      AuthorName: K Burnett, Y Wu, D J Yoon, A P Schoellig, T D Barfoot
    - Title: "Picking up speed: Continuous-time Lidar-only odometry using doppler velocity measurements"
      URL: https://arxiv.org/abs/2209.03304
      AuthorName: Y Wu, D J Yoon, K Burnett, S Kammel, Y Chen, H Vhavle, T D Barfoot
    - Title: "Need for Speed: Fast Correspondence-Free Lidar Odometry Using Doppler Velocity"
      URL: https://arxiv.org/abs/2303.06511
      AuthorName: D J Yoon, K Burnett, J Laconte, Y Chen, H Vhavle, S Kammel, J Reuther, T D Barfoot