Open Skoltech Car

Dataset files

Dataset sequences can be downloaded from http://oscar.skoltech.ru/data/.

Note that currently only a small portion of dataset is uploaded.

Each sequence is stored in a separate folder, which can contain the following files:

• left.tar and right.tar: frames from left and right cameras respectively compressed using lossless algorithm. Each file inside tar archive is named as <unix timestamp, us>_<monotonic clock, us>.flif. For converting frames to PNG, PNM or JPEG, you can use convert utility from here. Please referer to the paper for more details.
• left_jpgs.tar and right_jpgs.tar: frames with applied histogram equalization filter compressd using JPEG lossy compression.
• left_video.webm and right_video.webm: video assembled from frames after with applied histogram equalization.
• velodyne.pcap.xz: compressed network packets from Velodyne HDL-64E S3 LiDAR.
• imu.bin.xz: InertiaCube3 IMU data.
• gps.log.xz: GPS NMEA messages from Garmin 18x receiver.

Annotations

Traffic sign annotations can be downloaded from https://github.com/icevision/annotations/.

Citations

If you use this dataset in your research, please cite the following paper:

Artem L. Pavlov, Pavel A. Karpyshev, George V. Ovchinnikov, Ivan V. Oseledets, and Dzmitry Tsetserukou, "IceVisionSet: lossless video dataset collected on Russian winter roads with traffic sign annotations", IEEE International Conference on Robotics and Automation (ICRA), 2019. [BibTeX] [PDF]

License

OS:Car dataset files by ISR Lab, Skoltech are licensed under a Creative Commons Attribution 4.0 International License..