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)

Download the dataset

The dataset is available for non-commercial usage. You must be affiliated with a university and use your university email address to make the request. Use this link to make the download request.

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.

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}
}