TOMD: A Trail-based Off-road Multimodal Dataset for Traversable Pathway Segmentation under Challenging Illumination Conditions

We present TOMD, designed to capture complex, unstructured trail environments using a medium-scale all-terrain robot platform. The dataset integrates high-fidelity 3D LiDAR (128 channels), stereo imagery, GNSS, IMU, telemetry control data, and illumination measurements, all collected through repeated traversals under varying environmental conditions. Data was gathered in the hilly regions near the Department of Mathematics and Computer Science at Durham University (United Kingdom), encompassing diverse natural terrains such as grasslands, bushes, tree-dense areas, leaf-covered trails, and slopes.

Resource type: Collection
Total Items: 17
Size: 185 GB
Contributors: Creator: Sun, Yixin ¹
Data collector: Sun, Yixin ¹
Editor: Sun, Yixin ¹
Creator: Breckon, Toby P. ¹
Editor: Breckon, Toby P. ¹
Editor: Li, Li ¹
Editor: e, wenke ¹
Creator: Atapour-Abarghouei, Amir ¹
Editor: Atapour-Abarghouei, Amir ¹

¹ Durham university
Funder: Durham University
Research methods: Data collection performed in the UK, under Durham University Ethics
Other description: Further documentation about the research: https://github.com/yyyxs1125/TMOD
Keyword: Dataset
Off-road robotics
Robotic navigation
High resolution LiDAR
Stereo vision
Semantic segmentation
Subject: Artificial intelligence
Computer vision--Data processing
Computer Science
Robotics
Location: Durham, England, United Kingdom
Language: English
Identifier: ark:/32150/r2dn39x159k
Publisher: Durham University
Date Created: June, 2024

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	Title	Date Uploaded	Visibility	Action
	TOMD_MD5_checksums.zip Is part of: TOMD: A Trail-based Off-road Multimodal Dataset for Traversable Pathway Segmentation under Challenging Illumination Conditions	12 May 2025	Open Access	Single-Use Link to File Edit File Download File
File Name: MD5_checksums.zip File Format: zip (ZIP Format) Creator: Depositor: Y. Sun Edit Access: Users: lmfm45
	TOMD_07_30_2024_part1.7z.001 Is part of: TOMD: A Trail-based Off-road Multimodal Dataset for Traversable Pathway Segmentation under Challenging Illumination Conditions	12 May 2025	Open Access	Single-Use Link to File Edit File Download File
File Name: TOMD_07_30_2024_part1.7z.001 File Format: x-7z-compressed (7-zip archive data, version 0.4) Creator: Depositor: Y. Sun Edit Access: Users: lmfm45
	TOMD_07_30_2024_part1.7z.002 Is part of: TOMD: A Trail-based Off-road Multimodal Dataset for Traversable Pathway Segmentation under Challenging Illumination Conditions	12 May 2025	Open Access	Single-Use Link to File Edit File Download File
File Name: TOMD_07_30_2024_part1.7z.002 File Format: octet-stream (Binary File) Creator: Depositor: Y. Sun Edit Access: Users: lmfm45
	TOMD_07_28_2024_part1.7z.001 Is part of: TOMD: A Trail-based Off-road Multimodal Dataset for Traversable Pathway Segmentation under Challenging Illumination Conditions	12 May 2025	Open Access	Single-Use Link to File Edit File Download File
File Name: TOMD_07_28_2024_part1.7z.001 File Format: x-7z-compressed (7-zip archive data, version 0.4) Creator: Depositor: Y. Sun Edit Access: Users: lmfm45
	TOMD_07_28_2024_part1.7z.002 Is part of: TOMD: A Trail-based Off-road Multimodal Dataset for Traversable Pathway Segmentation under Challenging Illumination Conditions	12 May 2025	Open Access	Single-Use Link to File Edit File Download File
File Name: TOMD_07_28_2024_part1.7z.002 File Format: octet-stream (Binary File) Creator: Depositor: Y. Sun Edit Access: Users: lmfm45
	TOMD_07_28_2024_part2.7z.001 Is part of: TOMD: A Trail-based Off-road Multimodal Dataset for Traversable Pathway Segmentation under Challenging Illumination Conditions	12 May 2025	Open Access	Single-Use Link to File Edit File Download File
File Name: TOMD_07_28_2024_part2.7z.001 File Format: x-7z-compressed (7-zip archive data, version 0.4) Creator: Depositor: Y. Sun Edit Access: Users: lmfm45
	TOMD_07_28_2024_part2.7z.002 Is part of: TOMD: A Trail-based Off-road Multimodal Dataset for Traversable Pathway Segmentation under Challenging Illumination Conditions	12 May 2025	Open Access	Single-Use Link to File Edit File Download File
File Name: TOMD_07_28_2024_part2.7z.002 File Format: octet-stream (Binary File) Creator: Depositor: Y. Sun Edit Access: Users: lmfm45
	TOMD_06_30_2024_part1.7z.001 Is part of: TOMD: A Trail-based Off-road Multimodal Dataset for Traversable Pathway Segmentation under Challenging Illumination Conditions	11 May 2025	Open Access	Single-Use Link to File Edit File Download File
File Name: TOMD_06_30_2024_part1.7z.001 File Format: x-7z-compressed (7-zip archive data, version 0.4) Creator: Depositor: Y. Sun Edit Access: Users: lmfm45
	TOMD_06_30_2024_part1.7z.002 Is part of: TOMD: A Trail-based Off-road Multimodal Dataset for Traversable Pathway Segmentation under Challenging Illumination Conditions	11 May 2025	Open Access	Single-Use Link to File Edit File Download File
File Name: TOMD_06_30_2024_part1.7z.002 File Format: octet-stream (Binary File) Creator: Depositor: Y. Sun Edit Access: Users: lmfm45
	TOMD_06_21_2024_part2.7z.001 Is part of: TOMD: A Trail-based Off-road Multimodal Dataset for Traversable Pathway Segmentation under Challenging Illumination Conditions	11 May 2025	Open Access	Single-Use Link to File Edit File Download File
File Name: TOMD_06_21_2024_part2.7z.001 File Format: x-7z-compressed (7-zip archive data, version 0.4) Creator: Depositor: Y. Sun Edit Access: Users: lmfm45

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