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Burnett, Keenan; Yoon, David J; Wu, Yuchen; Li, Andrew Z; Zhang, Haowei; Lu, Shichen; Qian, Jingxing; Tseng, Wei-Kang; Lambert, Andrew; Leung, Keith YK; Schoellig, Angela P; Barfoot, Timothy D
The International journal of robotics research, 02/2023, Volume: 42, Issue: 1-2Journal Article
The Boreas dataset was collected by driving a repeated route over the course of 1 year, resulting in stark seasonal variations and adverse weather conditions such as rain and falling snow. In total, the Boreas dataset includes over 350 km of driving data featuring a 128-channel Velodyne Alpha-Prime lidar, a 360° Navtech CIR304-H scanning radar, a 5MP FLIR Blackfly S camera, and centimetre-accurate post-processed ground truth poses. Our dataset will support live leaderboards for odometry, metric localization, and 3D object detection. The dataset and development kit are available at boreas.utias.utoronto.ca.
