Data Format

DATA:

scenario_xxx: sequence of sensor data
	|
	----CAN_* (Decoded CAN DATA):
	|		|
	|		---CAN_yaw_yyy.csv: yaw (deg/s)
	|		|
	|		---CAN_vel_yyy.csv: speed (km/hr)
	|
	----gps_*(GPS+IMU DATA):
	|		|
	|		---gps_yyy.csv: Long_Rel,Lat_Rel,In_Height,Tilt_Roll,Tilt_Pitch,Tilt_Yaw,Vel_x,Vel_y,Vel_z,Std_Dev_x,Std_Dev_y,Std_Dev_z,Std_Dev_roll,Std_Dev_pitch,Std_Dev_yaw,Std_Dev_vel_x,Std_Dev_vel_y,Std_Dev_vel_z,Abs_Lat,Abs_Long
	|			
	|
	----labels_*(labels) [c: center, l: length]:
	|		|						
	|		|
	|		---labels_3d1_yyy.txt: (label, trackerID, state[static/dynamic], c_x, c_y, c_z, l_x, l_y, l_z, yaw) 3D bounding box labeled in velodyne frame
	|							
	|
	----pointcloud* (pointcloud):
			|
			---pointcloud1_yyy.ply: Full 360 deg pointcloud (surfel format, fields: xyz, radius->intensity, confidence->ring_number, curvature->encoder_angle)

Citation

This dataset corresponds to the paper, 'The H3D Dataset for Full-Surround 3D Multi-Object Detection and Tracking in Crowded Urban Scenes', as it appears in the proceedings of International Conference on Robotics and Automation (ICRA) 2019. In the current release, the data is available for researchers from universities.

The process to obtain the dataset is as follows:

• Please send an email at bdariush @ honda-ri dot com using your official university email address.   
• A 'Data Sharing Agreement'  will be sent to you to be signed by a university representative (e.g. a university professor).
• On review, instructions for downloading the dataset will be provided.

Please cite the following paper if you find the dataset useful in your work:

@inproceedings{360LiDARTracking_ICRA_2019,
    author = {Abhishek Patil and Srikanth Malla and Haiming Gang and Yi-Ting Chen},
    title = {The H3D Dataset for Full-Surround 3D Multi-Object Detection and Tracking in Crowded Urban Scenes},  
    booktitle = {International Conference on Robotics and Automation},
    year = {2019}
}