Autonomy Lab / SFU Mountain Dataset sfu logo



Trans-Canada Trail Powerline Trail Jim's Jungle Trail
A dataset of woodland trail navigation on a ground-based robot in changing environmental conditions.


The SFU Mountain Dataset consists of several hundred GB of sensor data recorded from Burnaby Mountain, British Columbia, Canada. Each traversal covers 4km of woodland trails with a 300m altitude change. Recordings include full video from 6 cameras, range data from 2 LIDAR sensors, GPS, IMU and wheel encoders, plus calibration parameters for each sensor, and we provide the data in the form of ROS bag files, JPEG image files, and CSV text files.

Laser scan of trail surface
Laser scan of trail surface, colored by projecting into the stereo cameras and registered by unfiltered wheel odometry.
Clearpath Husky A200 used to gather this dataset
Clearpath Husky robot used to gather this dataset, with origin and axes of the robot's coordinate frame indicated.
Map of trails included in this dataset
Map of the trails included in this dataset, with start locations of parts A and B indicated.

In addition to the raw data, we provide ground-truth timestamped place matches: frames from each camera at locations separated by approximately 10 meters, hand-matched between dry, wet, dusk, and night traversals. Here are some example place matches for each camera across all four sessions:


Place 119 a Place 050 b Place 119 b


Sensors

Our trail navigation robot is equipped with the following payload configuration:


Place Matches

For each trail section a and b, we provide hand-aligned place matches in bundles of timestamped frames from 1) all cameras, 2) just the stereo cameras, and 3) just each individual camera:

All: all-a (458 MB) all-b (227 MB)  
    
Stereo: stereo-a (168 MB) stereo-b (72 MB)  
    
Stereo Left: stereo-left-a (83 MB) stereo-left-b (36 MB) stereo-left-calibration.yaml
Stereo Right: stereo-right-a (85 MB) stereo-right-b (36 MB) stereo-right-calibration.yaml
Port: port-a (74 MB) port-b (46 MB) port-calibration.yaml
Starboard: starboard-a (84 MB) starboard-b (44 MB) starboard-calibration.yaml
Rear: rear-a (70 MB) rear-b (33 MB) rear-calibration.yaml
Upward: upward-a (64 MB) upward-b (34 MB) upward-calibration.yaml


Raw Sensor Data

You can download the dataset via HTTP by clicking the individual links below.

The dataset in its purest form is available as ROS bag files recorded directly from the robot. These are the original recordings from which all other formats were exported; we modified them only to synchronize sensor timestamps.

ROS Bag Files


In addition to the ROS bag files, we provide non-camera sensor data in CSV text files in gzipped .tgz format. Calibration parameters for each sensor are included in calibration.yaml if applicable.

JPEG images from the cameras are provided at full 30 Hz, and also at subsampled rates of 3 Hz and 0.3 Hz for convenience.

All Sessions



All Cameras: cameras-all-a 30 Hz (~150 GB) cameras-all-b 30 Hz (~100 GB)
cameras-all-a 3 Hz (~15 GB) cameras-all-b 3 Hz (~10 GB)
cameras-all-a 0.3 Hz (~1.5 GB) cameras-all-b 0.3 Hz (~1 GB)
   
All Non-Camera Sensors: non-camera-sensors-all-a (~1200 MB) non-camera-sensors-all-b (~800 MB)
   
Stereo Cameras: stereo-all-a 30 Hz (~40 GB) stereo-all-b 30 Hz (~20 GB)
stereo-all-a 3 Hz (~4 GB) stereo-all-b 3 Hz (~2 GB)
stereo-all-a 0.3 Hz (~400 MB) stereo-all-b 0.3 Hz (~200 MB)
   
Stereo Left: stereo_left-all-a 30 Hz (~20 GB) stereo_left-all-b 30 Hz (~10 GB)
stereo_left-all-a 3 Hz (~2 GB) stereo_left-all-b 3 Hz (~1 GB)
stereo_left-all-a 0.3 Hz (~200 MB) stereo_left-all-b 0.3 Hz (~100 MB)
   
Stereo Right: stereo_right-all-a 30 Hz (~20 GB) stereo_right-all-b 30 Hz (~10 GB)
stereo_right-all-a 3 Hz (~2 GB) stereo_right-all-b 3 Hz (~1 GB)
stereo_right-all-a 0.3 Hz (~200 MB) stereo_right-all-b 0.3 Hz (~100 MB)
   
Port: port-all-a 30 Hz (~20 GB) port-all-b 30 Hz (~10 GB)
port-all-a 3 Hz (~2 GB) port-all-b 3 Hz (~1 GB)
port-all-a 0.3 Hz (~200 MB) port-all-b 0.3 Hz (~100 MB)
   
Starboard: starboard-all-a 30 Hz (~20 GB) starboard-all-b 30 Hz (~10 GB)
starboard-all-a 3 Hz (~2 GB) starboard-all-b 3 Hz (~1 GB)
starboard-all-a 0.3 Hz (~200 MB) starboard-all-b 0.3 Hz (~100 MB)
   
Upward: upward-all-a 30 Hz (~20 GB) upward-all-b 30 Hz (~10 GB)
upward-all-a 3 Hz (~2 GB) upward-all-b 3 Hz (~1 GB)
upward-all-a 0.3 Hz (~200 MB) upward-all-b 0.3 Hz (~100 MB)
   
Rear: rear-all-a 30 Hz (~20 GB) rear-all-b 30 Hz (~10 GB)
rear-all-a 3 Hz (~2 GB) rear-all-b 3 Hz (~1 GB)
rear-all-a 0.3 Hz (~200 MB) rear-all-b 0.3 Hz (~100 MB)
   
Front Laser: front_laser-all-a (~1200 MB) front_laser-all-b (~800 MB)
   
Top Laser: top_laser-all-a (~160 MB) top_laser-all-b (~80 MB)
   
Wheel Odometry: wheel_odometry-all-a (~3 MB) wheel_odometry-all-b (~2 MB)
   
IMU: imu-all-a (~240 MB) imu-all-b (~160 MB)
   
GPS: gps_lat_long_alt-all-a (~3 MB) gps_lat_long_alt-all-b (~1.5 MB)
gps_enu_meters-all-a (~4 MB) gps_enu_meters-all-b (~3 MB)
   
Barometric Pressure: pressure-all-a (~8 MB) pressure-all-b (~4 MB)

Dry



All Cameras: cameras-dry-a 30 Hz (~40 GB) cameras-dry-b 30 Hz (~25 GB)
cameras-dry-a 3 Hz (~4 GB) cameras-dry-b 3 Hz (~2.5 GB)
cameras-dry-a 0.3 Hz (~400 MB) cameras-dry-b 0.3 Hz (~250 MB)
   
All Non-Camera Sensors: non-camera-sensors-dry-a (~300 MB) non-camera-sensors-dry-b (~200 MB)
   
Stereo Cameras: stereo-dry-a 30 Hz (~10 GB) stereo-dry-b 30 Hz (~5 GB)
stereo-dry-a 3 Hz (~1 GB) stereo-dry-b 3 Hz (~500 MB)
stereo-dry-a 0.3 Hz (~100 MB) stereo-dry-b 0.3 Hz (~50 MB)
   
Stereo Left: stereo_left-dry-a 30 Hz (~5 GB) stereo_left-dry-b 30 Hz (~2.5 GB)
stereo_left-dry-a 3 Hz (~500 MB) stereo_left-dry-b 3 Hz (~250 MB)
stereo_left-dry-a 0.3 Hz (~50 MB) stereo_left-dry-b 0.3 Hz (~25 MB)
   
Stereo Right: stereo_right-dry-a 30 Hz (~5 GB) stereo_right-dry-b 30 Hz (~2.5 GB)
stereo_right-dry-a 3 Hz (~500 MB) stereo_right-dry-b 3 Hz (~250 MB)
stereo_right-dry-a 0.3 Hz (~50 MB) stereo_right-dry-b 0.3 Hz (~25 MB)
   
Port: port-dry-a 30 Hz (~5 GB) port-dry-b 30 Hz (~2.5 GB)
port-dry-a 3 Hz (~500 MB) port-dry-b 3 Hz (~250 MB)
port-dry-a 0.3 Hz (~50 MB) port-dry-b 0.3 Hz (~25 MB)
   
Starboard: starboard-dry-a 30 Hz (~5 GB) starboard-dry-b 30 Hz (~2.5 GB)
starboard-dry-a 3 Hz (~500 MB) starboard-dry-b 3 Hz (~250 MB)
starboard-dry-a 0.3 Hz (~50 MB) starboard-dry-b 0.3 Hz (~25 MB)
   
Upward: upward-dry-a 30 Hz (~5 GB) upward-dry-b 30 Hz (~2.5 GB)
upward-dry-a 3 Hz (~500 MB) upward-dry-b 3 Hz (~250 MB)
upward-dry-a 0.3 Hz (~50 MB) upward-dry-b 0.3 Hz (~25 MB)
   
Rear: rear-dry-a 30 Hz (~5 GB) rear-dry-b 30 Hz (~2.5 GB)
rear-dry-a 3 Hz (~500 MB) rear-dry-b 3 Hz (~250 MB)
rear-dry-a 0.3 Hz (~50 MB) rear-dry-b 0.3 Hz (~25 MB)
   
Front Laser: front_laser-dry-a (~300 MB) front_laser-dry-b (~200 MB)
   
Top Laser: top_laser-dry-a (~10 MB) top_laser-dry-b (~5 MB)
   
Wheel Odometry: wheel_odometry-dry-a (~200 KB) wheel_odometry-dry-b (~150 KB)
   
IMU: imu-dry-a (~15 MB) imu-dry-b (~10 MB)
   
GPS: gps_lat_long_alt-dry-a (~200 KB) gps_lat_long_alt-dry-b (~100 KB)
gps_enu_meters-dry-a (~300 KB) gps_enu_meters-dry-b (~200 KB)
   
Barometric Pressure: pressure-dry-a (~500 KB) pressure-dry-b (~300 KB)

Wet



All Cameras: cameras-wet-a 30 Hz (~40 GB) cameras-wet-b 30 Hz (~25 GB)
cameras-wet-a 3 Hz (~4 GB) cameras-wet-b 3 Hz (~2.5 GB)
cameras-wet-a 0.3 Hz (~400 MB) cameras-wet-b 0.3 Hz (~250 MB)
   
All Non-Camera Sensors: non-camera-sensors-wet-a (~300 MB) non-camera-sensors-wet-b (~200 MB)
   
Stereo Cameras: stereo-wet-a 30 Hz (~10 GB) stereo-wet-b 30 Hz (~5 GB)
stereo-wet-a 3 Hz (~1 GB) stereo-wet-b 3 Hz (~500 MB)
stereo-wet-a 0.3 Hz (~100 MB) stereo-wet-b 0.3 Hz (~50 MB)
   
Stereo Left: stereo_left-wet-a 30 Hz (~5 GB) stereo_left-wet-b 30 Hz (~2.5 GB)
stereo_left-wet-a 3 Hz (~500 MB) stereo_left-wet-b 3 Hz (~250 MB)
stereo_left-wet-a 0.3 Hz (~50 MB) stereo_left-wet-b 0.3 Hz (~25 MB)
   
Stereo Right: stereo_right-wet-a 30 Hz (~5 GB) stereo_right-wet-b 30 Hz (~2.5 GB)
stereo_right-wet-a 3 Hz (~500 MB) stereo_right-wet-b 3 Hz (~250 MB)
stereo_right-wet-a 0.3 Hz (~50 MB) stereo_right-wet-b 0.3 Hz (~25 MB)
   
Port: port-wet-a 30 Hz (~5 GB) port-wet-b 30 Hz (~2.5 GB)
port-wet-a 3 Hz (~500 MB) port-wet-b 3 Hz (~250 MB)
port-wet-a 0.3 Hz (~50 MB) port-wet-b 0.3 Hz (~25 MB)
   
Starboard: starboard-wet-a 30 Hz (~5 GB) starboard-wet-b 30 Hz (~2.5 GB)
starboard-wet-a 3 Hz (~500 MB) starboard-wet-b 3 Hz (~250 MB)
starboard-wet-a 0.3 Hz (~50 MB) starboard-wet-b 0.3 Hz (~25 MB)
   
Upward: upward-wet-a 30 Hz (~5 GB) upward-wet-b 30 Hz (~2.5 GB)
upward-wet-a 3 Hz (~500 MB) upward-wet-b 3 Hz (~250 MB)
upward-wet-a 0.3 Hz (~50 MB) upward-wet-b 0.3 Hz (~25 MB)
   
Rear: rear-wet-a 30 Hz (~5 GB) rear-wet-b 30 Hz (~2.5 GB)
rear-wet-a 3 Hz (~500 MB) rear-wet-b 3 Hz (~250 MB)
rear-wet-a 0.3 Hz (~50 MB) rear-wet-b 0.3 Hz (~25 MB)
   
Front Laser: front_laser-wet-a (~300 MB) front_laser-wet-b (~200 MB)
   
Top Laser: top_laser-wet-a (~10 MB) top_laser-wet-b (~5 MB)
   
Wheel Odometry: wheel_odometry-wet-a (~200 KB) wheel_odometry-wet-b (~150 KB)
   
IMU: imu-wet-a (~15 MB) imu-wet-b (~10 MB)
   
GPS: gps_lat_long_alt-wet-a (~200 KB) gps_lat_long_alt-wet-b (~100 KB)
gps_enu_meters-wet-a (~300 KB) gps_enu_meters-wet-b (~200 KB)
   
Barometric Pressure: pressure-wet-a (~500 KB) pressure-wet-b (~300 KB)

Dusk



All Cameras: cameras-dusk-a 30 Hz (~40 GB) cameras-dusk-b 30 Hz (~25 GB)
cameras-dusk-a 3 Hz (~4 GB) cameras-dusk-b 3 Hz (~2.5 GB)
cameras-dusk-a 0.3 Hz (~400 MB) cameras-dusk-b 0.3 Hz (~250 MB)
   
All Non-Camera Sensors: non-camera-sensors-dusk-a (~300 MB) non-camera-sensors-dusk-b (~200 MB)
   
Stereo Cameras: stereo-dusk-a 30 Hz (~10 GB) stereo-dusk-b 30 Hz (~5 GB)
stereo-dusk-a 3 Hz (~1 GB) stereo-dusk-b 3 Hz (~500 MB)
stereo-dusk-a 0.3 Hz (~100 MB) stereo-dusk-b 0.3 Hz (~50 MB)
   
Stereo Left: stereo_left-dusk-a 30 Hz (~5 GB) stereo_left-dusk-b 30 Hz (~2.5 GB)
stereo_left-dusk-a 3 Hz (~500 MB) stereo_left-dusk-b 3 Hz (~250 MB)
stereo_left-dusk-a 0.3 Hz (~50 MB) stereo_left-dusk-b 0.3 Hz (~25 MB)
   
Stereo Right: stereo_right-dusk-a 30 Hz (~5 GB) stereo_right-dusk-b 30 Hz (~2.5 GB)
stereo_right-dusk-a 3 Hz (~500 MB) stereo_right-dusk-b 3 Hz (~250 MB)
stereo_right-dusk-a 0.3 Hz (~50 MB) stereo_right-dusk-b 0.3 Hz (~25 MB)
   
Port: port-dusk-a 30 Hz (~5 GB) port-dusk-b 30 Hz (~2.5 GB)
port-dusk-a 3 Hz (~500 MB) port-dusk-b 3 Hz (~250 MB)
port-dusk-a 0.3 Hz (~50 MB) port-dusk-b 0.3 Hz (~25 MB)
   
Starboard: starboard-dusk-a 30 Hz (~5 GB) starboard-dusk-b 30 Hz (~2.5 GB)
starboard-dusk-a 3 Hz (~500 MB) starboard-dusk-b 3 Hz (~250 MB)
starboard-dusk-a 0.3 Hz (~50 MB) starboard-dusk-b 0.3 Hz (~25 MB)
   
Upward: upward-dusk-a 30 Hz (~5 GB) upward-dusk-b 30 Hz (~2.5 GB)
upward-dusk-a 3 Hz (~500 MB) upward-dusk-b 3 Hz (~250 MB)
upward-dusk-a 0.3 Hz (~50 MB) upward-dusk-b 0.3 Hz (~25 MB)
   
Rear: rear-dusk-a 30 Hz (~5 GB) rear-dusk-b 30 Hz (~2.5 GB)
rear-dusk-a 3 Hz (~500 MB) rear-dusk-b 3 Hz (~250 MB)
rear-dusk-a 0.3 Hz (~50 MB) rear-dusk-b 0.3 Hz (~25 MB)
   
Front Laser: front_laser-dusk-a (~300 MB) front_laser-dusk-b (~200 MB)
   
Top Laser: top_laser-dusk-a (~10 MB) top_laser-dusk-b (~5 MB)
   
Wheel Odometry: wheel_odometry-dusk-a (~200 KB) wheel_odometry-dusk-b (~150 KB)
   
IMU: imu-dusk-a (~15 MB) imu-dusk-b (~10 MB)
   
GPS: gps_lat_long_alt-dusk-a (~200 KB) gps_lat_long_alt-dusk-b (~100 KB)
gps_enu_meters-dusk-a (~300 KB) gps_enu_meters-dusk-b (~200 KB)
   
Barometric Pressure: pressure-dusk-a (~500 KB) pressure-dusk-b (~300 KB)

Night



All Cameras: cameras-night-a 30 Hz (~40 GB) cameras-night-b 30 Hz (~25 GB)
cameras-night-a 3 Hz (~4 GB) cameras-night-b 3 Hz (~2.5 GB)
cameras-night-a 0.3 Hz (~400 MB) cameras-night-b 0.3 Hz (~250 MB)
   
All Non-Camera Sensors: non-camera-sensors-night-a (~300 MB) non-camera-sensors-night-b (~200 MB)
   
Stereo Cameras: stereo-night-a 30 Hz (~10 GB) stereo-night-b 30 Hz (~5 GB)
stereo-night-a 3 Hz (~1 GB) stereo-night-b 3 Hz (~500 MB)
stereo-night-a 0.3 Hz (~100 MB) stereo-night-b 0.3 Hz (~50 MB)
   
Stereo Left: stereo_left-night-a 30 Hz (~5 GB) stereo_left-night-b 30 Hz (~2.5 GB)
stereo_left-night-a 3 Hz (~500 MB) stereo_left-night-b 3 Hz (~250 MB)
stereo_left-night-a 0.3 Hz (~50 MB) stereo_left-night-b 0.3 Hz (~25 MB)
   
Stereo Right: stereo_right-night-a 30 Hz (~5 GB) stereo_right-night-b 30 Hz (~2.5 GB)
stereo_right-night-a 3 Hz (~500 MB) stereo_right-night-b 3 Hz (~250 MB)
stereo_right-night-a 0.3 Hz (~50 MB) stereo_right-night-b 0.3 Hz (~25 MB)
   
Port: port-night-a 30 Hz (~5 GB) port-night-b 30 Hz (~2.5 GB)
port-night-a 3 Hz (~500 MB) port-night-b 3 Hz (~250 MB)
port-night-a 0.3 Hz (~50 MB) port-night-b 0.3 Hz (~25 MB)
   
Starboard: starboard-night-a 30 Hz (~5 GB) starboard-night-b 30 Hz (~2.5 GB)
starboard-night-a 3 Hz (~500 MB) starboard-night-b 3 Hz (~250 MB)
starboard-night-a 0.3 Hz (~50 MB) starboard-night-b 0.3 Hz (~25 MB)
   
Upward: upward-night-a 30 Hz (~5 GB) upward-night-b 30 Hz (~2.5 GB)
upward-night-a 3 Hz (~500 MB) upward-night-b 3 Hz (~250 MB)
upward-night-a 0.3 Hz (~50 MB) upward-night-b 0.3 Hz (~25 MB)
   
Rear: rear-night-a 30 Hz (~5 GB) rear-night-b 30 Hz (~2.5 GB)
rear-night-a 3 Hz (~500 MB) rear-night-b 3 Hz (~250 MB)
rear-night-a 0.3 Hz (~50 MB) rear-night-b 0.3 Hz (~25 MB)
   
Front Laser: front_laser-night-a (~300 MB) front_laser-night-b (~200 MB)
   
Top Laser: top_laser-night-a (~10 MB) top_laser-night-b (~5 MB)
   
Wheel Odometry: wheel_odometry-night-a (~200 KB) wheel_odometry-night-b (~150 KB)
   
IMU: imu-night-a (~15 MB) imu-night-b (~10 MB)
   
GPS: gps_lat_long_alt-night-a (~200 KB) gps_lat_long_alt-night-b (~100 KB)
gps_enu_meters-night-a (~300 KB) gps_enu_meters-night-b (~200 KB)
   
Barometric Pressure: pressure-night-a (~500 KB) pressure-night-b (~300 KB)

The timestamps in the preceding bag files, CSV files and JPEG images have all been shifted by subtracting an offset calculated to account for the relative latencies of the different sensors. The offsets are provided here in case they are needed:

Timestamp Offsets



SensorOffset (ms)
Stereo Left Camera: 48.4
Stereo Right Camera: 48.4
Port Camera: 46.85
Starboard Camera: 45.5
Upward Camera: 65.3
Rear Camera: 58.5
Front Laser: 67.9
Top Laser: 379.6
IMU: 29.2
Wheel Odometry: 0 (reference sensor)


Extras

In addition to the trail runs described in the paper, we provide five extra recorded sessions using the same robot configuration, but with the front laser scanner oriented in horizontal position instead. One session records a section of the first trail described in the paper, while four other sessions were recorded inside buildings on the SFU campus. This data is provided only in the form of ROS bag files, and we cannot guarantee the same level of calibration quality as in the main dataset.

SessionData
Outdoor: Trans-Canada Trail trail_horizontal_laser.bag
Indoor: Applied Science Building sfu_asb_2015-09-16-16-57-12.bag
Indoor: TASC1 Floor 7 sfu_tasc1_2015-09-16-16-35-55.bag
Indoor: TASC1 Floor 8 sfu_tasc1_2015-09-16-16-43-33.bag
Indoor: TASC1 Floor 9 sfu_tasc1_2015-09-16-16-51-06.bag

Citation

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


License

This work is licensed under the Creative Commons Attribution-4.0 International License. This means that you are free to distribute transformations of this work as long as you give appropriate credit and indicate if changes were made.

Creative Commons License

Contact

Questions? Feel free to email us at jakeb@sfu.ca.

Valid CSS!