DurLAR: A High-Fidelity 128-Channel LiDAR Dataset with Panoramic Ambient and Reflectivity Imagery for Multi-Modal Autonomous Driving Applications [dataset]

We present DurLAR, a high-fidelity 128-channel 3D LiDAR dataset with panoramic ambient (near infrared) and reflectivity imagery, as well as a sample benchmark task using depth estimation for autonomous driving applications. Our driving platform is equipped with a high resolution 128 channel LiDAR, a 2MPix stereo camera, a lux meter and a GNSS/INS system. Ambient and reflectivity images are made available along with the LiDAR point clouds to facilitate multi-modal use of concurrent ambient and reflectivity scene information.

Resource type: Collection
Total Items: 60
Size: 640 GB
Contributors: Creator: Li, Li ¹
Editor: Li, Li ¹
Creator: Breckon, Toby P. ¹
Editor: Breckon, Toby P. ¹
Editor: Ismail, Khalid ¹
Editor: Shum, Hubert ¹

¹ Durham University, UK
Funder: Innovate UK (partial)
Research methods: Data collection performed in the UK, under Durham University Ethics Approval Ref: COMP-2021-10-03T23-38-21-qhww73
Keyword: dense depth
monocular depth estimation
3D
stereo vision
ground truth depth
high resolution LiDAR
dataset
autonomous driving
flash LiDAR
Subject: Artificial intelligence
Computer vision--Data processing
Computer Science
Autonomy
Location: Durham, England, UK
Language: English
Cited in: https://dro.dur.ac.uk/34293/
Identifier: ark:/32150/r2gq67jr192
DurLAR
Publisher: Durham University
Date Created: November 2021

Items in this Collection

List of items in this collection
	Title	Date Uploaded	Visibility	Action
	DurLAR : A High-Fidelity 128-Channel LiDAR Dataset with Panoramic Ambient and Reflectivity Imagery for Multi-Modal Autonomous Driving Applications : DurLAR_20210901_OTHERS [dataset] Is part of: DurLAR: A High-Fidelity 128-Channel LiDAR Dataset with Panoramic Ambient and Reflectivity Imagery for Multi-Modal Autonomous Driving Applications [dataset]	7 February 2022	Open Access	Single-Use Link to File Edit File Download File
File Name: /files/r3st74cq44r File Format: Creator: Depositor: T. Breckon Edit Access: Users: qhww73, pzvx49, mznv82
	DurLAR : A High-Fidelity 128-Channel LiDAR Dataset with Panoramic Ambient and Reflectivity Imagery for Multi-Modal Autonomous Driving Applications : DurLAR_20210901_M_OTHERS [dataset] Is part of: DurLAR: A High-Fidelity 128-Channel LiDAR Dataset with Panoramic Ambient and Reflectivity Imagery for Multi-Modal Autonomous Driving Applications [dataset]	7 February 2022	Open Access	Single-Use Link to File Edit File Download File
File Name: /files/r376537132k File Format: Creator: Depositor: T. Breckon Edit Access: Users: qhww73, pzvx49, mznv82
	DurLAR : A High-Fidelity 128-Channel LiDAR Dataset with Panoramic Ambient and Reflectivity Imagery for Multi-Modal Autonomous Driving Applications : DurLAR_20210901_M_LIDAR [dataset] Is part of: DurLAR: A High-Fidelity 128-Channel LiDAR Dataset with Panoramic Ambient and Reflectivity Imagery for Multi-Modal Autonomous Driving Applications [dataset]	7 February 2022	Open Access	Single-Use Link to File Edit File Download File
File Name: /files/r3c534fn920 File Format: Creator: Depositor: T. Breckon Edit Access: Users: qhww73, pzvx49, mznv82
	DurLAR : A High-Fidelity 128-Channel LiDAR Dataset with Panoramic Ambient and Reflectivity Imagery for Multi-Modal Autonomous Driving Applications : DurLAR_20210901_M_CAM [dataset] Is part of: DurLAR: A High-Fidelity 128-Channel LiDAR Dataset with Panoramic Ambient and Reflectivity Imagery for Multi-Modal Autonomous Driving Applications [dataset]	7 February 2022	Open Access	Single-Use Link to File Edit File Download File
File Name: /files/r3z029p472v File Format: Creator: Depositor: T. Breckon Edit Access: Users: qhww73, pzvx49, mznv82
	DurLAR : A High-Fidelity 128-Channel LiDAR Dataset with Panoramic Ambient and Reflectivity Imagery for Multi-Modal Autonomous Driving Applications : DurLAR_20210901_LIDAR_00 [dataset] Is part of: DurLAR: A High-Fidelity 128-Channel LiDAR Dataset with Panoramic Ambient and Reflectivity Imagery for Multi-Modal Autonomous Driving Applications [dataset]	7 February 2022	Open Access	Single-Use Link to File Edit File Download File
File Name: /files/r3k0698748g File Format: Creator: Depositor: T. Breckon Edit Access: Users: qhww73, pzvx49, mznv82
	DurLAR : A High-Fidelity 128-Channel LiDAR Dataset with Panoramic Ambient and Reflectivity Imagery for Multi-Modal Autonomous Driving Applications : DurLAR_20210901_LIDAR_02 [dataset] Is part of: DurLAR: A High-Fidelity 128-Channel LiDAR Dataset with Panoramic Ambient and Reflectivity Imagery for Multi-Modal Autonomous Driving Applications [dataset]	7 February 2022	Open Access	Single-Use Link to File Edit File Download File
File Name: /files/r33197xm048 File Format: Creator: Depositor: T. Breckon Edit Access: Users: pzvx49, mznv82, qhww73
	DurLAR : A High-Fidelity 128-Channel LiDAR Dataset with Panoramic Ambient and Reflectivity Imagery for Multi-Modal Autonomous Driving Applications : DurLAR_20210901_LIDAR [dataset] Is part of: DurLAR: A High-Fidelity 128-Channel LiDAR Dataset with Panoramic Ambient and Reflectivity Imagery for Multi-Modal Autonomous Driving Applications [dataset]	7 February 2022	Open Access	Single-Use Link to File Edit File Download File
File Name: /files/r379407x164 File Format: Creator: Depositor: T. Breckon Edit Access: Users: qhww73, pzvx49, mznv82
	DurLAR : A High-Fidelity 128-Channel LiDAR Dataset with Panoramic Ambient and Reflectivity Imagery for Multi-Modal Autonomous Driving Applications : DurLAR_20210901_CAM [dataset] Is part of: DurLAR: A High-Fidelity 128-Channel LiDAR Dataset with Panoramic Ambient and Reflectivity Imagery for Multi-Modal Autonomous Driving Applications [dataset]	7 February 2022	Open Access	Single-Use Link to File Edit File Download File
File Name: /files/r3n296wz120 File Format: Creator: Depositor: T. Breckon Edit Access: Users: qhww73, pzvx49, mznv82
	MD5 file checksums for DurLAR research data collecton 2021-07-16 Is part of: DurLAR: A High-Fidelity 128-Channel LiDAR Dataset with Panoramic Ambient and Reflectivity Imagery for Multi-Modal Autonomous Driving Applications [dataset]	4 February 2022	Open Access	Single-Use Link to File Edit File Download File
File Name: /files/r3tx31qh68q File Format: Creator: Depositor: T. Breckon Edit Access: Users: pzvx49, mznv82, qhww73
	DurLAR : A High-Fidelity 128-Channel LiDAR Dataset with Panoramic Ambient and Reflectivity Imagery for Multi-Modal Autonomous Driving Applications : DurLAR_20210716_S_OTHERS [dataset] Is part of: DurLAR: A High-Fidelity 128-Channel LiDAR Dataset with Panoramic Ambient and Reflectivity Imagery for Multi-Modal Autonomous Driving Applications [dataset]	4 February 2022	Open Access	Single-Use Link to File Edit File Download File
File Name: /files/r38c97kq40f File Format: Creator: Depositor: T. Breckon Edit Access: Users: pzvx49, mznv82, qhww73

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