This readme file was generated on 2025-05-12 by Yixin Sun GENERAL INFORMATION Title of Dataset: TOMD: A Trail-based Off-road Multimodal Dataset for Traversable Pathway Segmentation under Challenging Illumination Conditions Author/Principal Investigator Information Name: Yixin Sun ORCID: https://orcid.org/0009-0002-0633-7299 Institution: Mathematical Sciences & Computer Science Building Address: the Upper Mountjoy Campus, Stockton Road, Durham, DH1 3LE, UK Email: lmfm45@durham.ac.uk Author/Associate or Co-investigator Information Name: Toby P. Breckon ORCID:https://orcid.org/0000-0003-1666-7590 Institution: Mathematical Sciences & Computer Science Building Address: Upper Mountjoy Campus, Stockton Road, Durham, DH1 3LE, UK Email: toby.breckon@durham.ac.uk Author/Alternate Contact Information Name: Amir Atapour-Abarghouei ORCID:https://orcid.org/0000-0002-4242-4579 Institution: Mathematical Sciences & Computer Science Building Address: Upper Mountjoy Campus, Stockton Road, Durham, DH1 3LE, UK Email: amir.atapour-abarghouei@durham.ac.uk Date of data collection: 2024-06-19 2024-06-21 2024-06-30 2024-07-28 2024-07-30 Geographic location of data collection: The hilly areas near the Mathematical Sciences & Computer Science Building Information about funding sources that supported the collection of the data: None SHARING/ACCESS INFORMATION Licenses/restrictions placed on the data: CC-BY Links to publications that cite or use the data: Paper accepted by IJCNN (DOI forthcoming) Links to other publicly accessible locations of the data: https://github.com/yyyxs1125/TMOD Recommended citation for this dataset: Sun, Yixin, Breckon, Toby P., Atapour-Abarghouei, Amir (2024): TOMD: A Trail-based Off-road Multimodal Dataset for Traversable Pathway Segmentation under Challenging Illumination Conditions. Durham University. [dataset]. DOI: http://doi.org/10.15128/r1w08929988 DATA & FILE OVERVIEW File List: TOMD_MD5_checksums.zip TOMD_07_30_2024_part1.7z.001 TOMD_07_30_2024_part1.7z.002 TOMD_07_28_2024_part1.7z.001 TOMD_07_28_2024_part1.7z.002 TOMD_07_28_2024_part2.7z.001 TOMD_07_28_2024_part2.7z.002 TOMD_06_30_2024_part1.7z.001 TOMD_06_30_2024_part1.7z.002 TOMD_06_21_2024_part2.7z.001 TOMD_06_21_2024_part2.7z.002 TOMD_06_21_2024_part1.7z.001 TOMD_06_21_2024_part1.7z.002 TOMD_06_19_2024_part1.7z.001 TOMD_06_21_2024_part2.7z.003 TOMD_06_19_2024_part1.7z.002 Relationship between files, if important: Additional related data collected that was not included in the current data package: Annotation, Depth and calibration file will be uploaded soon. Are there multiple versions of the dataset? If yes, name of file(s) that was updated: Why was the file updated? When was the file updated? METHODOLOGICAL INFORMATION Description of methods used for collection/generation of data: Methods for processing the data: Extract spy, png, civ formats data from ROSbags Instrument- or software-specific information needed to interpret the data: ROS1 Noetic Standards and calibration information, if appropriate: Environmental/experimental conditions: python Describe any quality-assurance procedures performed on the data: People involved with sample collection, processing, analysis and/or submission: Yixin Sun, Toby P. Breckon Amir Atapour-Abarghouei Li li Wenke E DATA-SPECIFIC INFORMATION FOR: TOMD_MD5_checksums.zip TOMD_07_30_2024_part1.7z.001 TOMD_07_30_2024_part1.7z.002 TOMD_07_28_2024_part1.7z.001 TOMD_07_28_2024_part1.7z.002 TOMD_07_28_2024_part2.7z.001 TOMD_07_28_2024_part2.7z.002 TOMD_06_30_2024_part1.7z.001 TOMD_06_30_2024_part1.7z.002 TOMD_06_21_2024_part2.7z.001 TOMD_06_21_2024_part2.7z.002 TOMD_06_21_2024_part1.7z.001 TOMD_06_21_2024_part1.7z.002 TOMD_06_19_2024_part1.7z.001 TOMD_06_21_2024_part2.7z.003 TOMD_06_19_2024_part1.7z.002 Number of variables: Number of cases/rows: Variable List: Missing data codes: Specialized formats or other abbreviations used: