Brno Urban Dataset -- The New Data for Self-Driving Agents and Mapping Tasks

TL;DR

This paper introduces the Brno Urban Dataset, a comprehensive collection of multi-sensor data with high-precision localization, designed to advance research in autonomous driving and mapping tasks.

Contribution

The paper presents a new, publicly available dataset with diverse sensors and centimeter-level accurate GNSS data, filling gaps in existing datasets for autonomous vehicle research.

Findings

Over 350 km of recorded driving data in various environments.

High-precision timestamping enables accurate sensor synchronization.

Includes unique centimeter-accurate GNSS data not available elsewhere.

Abstract

Autonomous driving is a dynamically growing field of research, where quality and amount of experimental data is critical. Although several rich datasets are available these days, the demands of researchers and technical possibilities are evolving. Through this paper, we bring a new dataset recorded in Brno, Czech Republic. It offers data from four WUXGA cameras, two 3D LiDARs, inertial measurement unit, infrared camera and especially differential RTK GNSS receiver with centimetre accuracy which, to the best knowledge of the authors, is not available from any other public dataset so far. In addition, all the data are precisely timestamped with sub-millisecond precision to allow wider range of applications. At the time of publishing of this paper, recordings of more than 350 km of rides in varying environment are shared at: https: //github.com/RoboticsBUT/Brno-Urban-Dataset.