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A Repository of Sensor Data for Autonomous Driving Research



Michael O. Shneier, Tommy Chang, Tsai Hong Hong, Geraldine S. Cheok, Harry A. Scott, Steven Legowik, Alan M. Lytle


We describe a project to collect and disseminate sensor data for autonomous mobility research. Our goals are to provide data of known accuracy and precision to researchers and developers to enable algorithms to be developed using realistically difficult sensory data. This enables quantitative comparisons of algorithms by running them on the same data, allows groups that lack equipment to participate in mobility research, and speeds technology transfer by providing industry with metrics for comparing algorithm performance. Data are collected using the NIST High Mobility Multi-purpose Wheeled Vehicle (HMMWV), an instrumented vehicle that can be driven manually or autonomously both on roads and off. The vehicle can mount multiple sensors and provides highly accurate position and orientation information as data are collected. The sensors on the HMMWV include an imaging ladar, a color camera, color stereo, and inertial navigation (INS) and Global Positioning System (GPS). Also available are a highresolution scanning ladar, a line-scan ladar, and a multicamera panoramic sensor. The sensors are characterized by collecting data from calibrated courses containing known objects. For some of the data, ground truth will be collected from site surveys. Access to the data is through a web-based query interface. Additional information stored with the sensor data includes navigation and timing data, sensor to vehicle coordinate transformations for each sensor, and sensor calibration information. Several sets of data have already been collected and the web query interface has been developed. Data collection is an ongoing process, and where appropriate, NIST will work with other groups to collect data for specific applications using third-party sensors.
Proceedings Title
Proceedings of the SPIE Aerosense Conference
Conference Dates
April 21-25, 2003
Conference Location
Orlando, FL
Conference Title
SPIE Aerosense Conference


calibration, data collection, images, ladar, LADAR/LIDAR Sensors, Mobility, off-road, on-road, Performance Metrics, position& orientation, Vision


Shneier, M. , Chang, T. , , T. , Cheok, G. , Scott, H. , Legowik, S. and Lytle, A. (2003), A Repository of Sensor Data for Autonomous Driving Research, Proceedings of the SPIE Aerosense Conference, Orlando, FL, [online], (Accessed July 21, 2024)


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Created April 25, 2003, Updated February 17, 2017