Datasets:

AD-Assurance-Lab
/

lab-drives

@@ -19,8 +19,9 @@ viewer: false
 # WMU AD Assurance Lab drives, 2019-2025
 Smaller recordings from the AD Assurance Lab at Western Michigan University: a six-camera urban drive, radar test
-drives, radar-only drives, ZED 2i campus drives, a 2025 campus shuttle drive and a 2019 2D-lidar weather test. The Ouster point clouds from the
-same drives are in a companion dataset,
 [`AD-Assurance-Lab/ouster-lidar-drives`](https://huggingface.co/datasets/AD-Assurance-Lab/ouster-lidar-drives).
 | Collection | When | What | Size |
@@ -30,13 +31,15 @@ same drives are in a companion dataset,
 | `radar_lidar_2020-21` | 2020-03-05, 2021-01-07 | a highway and a city drive, radar only | 14 MB |
 | `zed2i_campus_2022-07` | 2022-07-27, 2022-07-29 | two campus drives, ZED 2i left camera | 1.6 GB |
 | `lidar_weather_tests_2019` | Oct-Nov 2019 | 13 static 2D-lidar runs in four weather conditions | 2.5 MB |
 | `wmu_shuttle_2025-01` | 2025-01-29 | one 3-minute campus shuttle drive, one camera | 531 MB |
 ## Sensors
 | Sensor | Make and model | Collections | Source |
 |---|---|---|---|
-| Cameras | Basler, 1440×1080 (six at about 15 fps in the urban drive, one in the radar tests, one at about 10 fps on the shuttle) | `kia_urban_2023-12`, `radar_tests_2023-24`, `wmu_shuttle_2025-01` | `camera_info` in the bags |
 | Stereo camera | Stereolabs ZED 2i (left eye released), 1920×1080, about 14.6 fps | `zed2i_campus_2022-07` | Carow et al. 2023 |
 | Radar | Aptiv (Delphi) ESR 2.5 | `radar_tests_2023-24`, `radar_lidar_2020-21` | Brown et al. 2022 |
 | Second radar | smartmicro UMRR-96 Type 153 (inferred) | point clouds in three `radar_tests_2023-24` bags (2024-02-15, 2024-03-27) | Brown et al. 2023 sensor list |
@@ -44,7 +47,7 @@ same drives are in a companion dataset,
 | Road weather | Lufft MARWIS (serial 10722) | `kia_urban_2023-12` | `/LastValues` topic |
 | 2D lidar | Slamtec RPLIDAR A2 | `lidar_weather_tests_2019` | Goberville et al. 2020 |
 | Drive by wire | PolySync OSCC on the lab Kia Niro | `kia_urban_2023-12`, `radar_tests_2023-24` | Brown et al. 2022 |
-| LiDAR | Ouster OS1-64 Gen1, serial 991951000513 (IMU here, plus its metadata in the radar tests and the shuttle; point clouds in the companion dataset) | `kia_urban_2023-12`, `radar_tests_2023-24`, `wmu_shuttle_2025-01` | sensor metadata |
 ## Conventions
@@ -111,6 +114,27 @@ conditions, October-November 2019, including one failed fair run that is flagged
 run, the condition, distance, duration and scan count, the mean number of finite returns per scan, and the authors'
 published "average hits" on the target (a different measure).
 ## `wmu_shuttle_2025-01`: campus shuttle drive
 One 179.5 s campus drive on 2025-01-29: a Basler camera at 1440×1080 and about 10 fps, 1,724 frames, as HEVC (lossless
@@ -119,8 +143,14 @@ The Ouster point clouds and the lidar map built from this drive are in the compa
 ## Privacy
-The cameras face outward. Pedestrians are small and distant; parked-car plates are legible in a few frames and are not
-blurred, as in the lab's winter-driving release.
 ## Citation
@@ -138,7 +168,8 @@ CC BY 4.0. Please cite the paper for the data you use:
   Region of Interest," SAE Technical Paper 2022-01-0078, doi:10.4271/2022-01-0078.
 * **`radar_tests_2023-24`**: related to N. E. Brown et al., "Real World Use Case Evaluation of Radar Retro-reflectors
   for Autonomous Vehicle Lane Detection Applications," SAE Technical Paper 2024-01-2042, doi:10.4271/2024-01-2042.
-* **`kia_urban_2023-12`, `wmu_shuttle_2025-01`**: no paper yet; please cite this dataset.
 ```bibtex
 @misc{wmu_lab_drives_2026,

 # WMU AD Assurance Lab drives, 2019-2025
 Smaller recordings from the AD Assurance Lab at Western Michigan University: a six-camera urban drive, radar test
+drives, radar-only drives, ZED 2i campus drives, two camera-LiDAR calibration recordings, a 2025 campus shuttle drive,
+a 2019 2D-lidar weather test and phone captures of a 2020 snowy highway drive. The Ouster point clouds from the same
+recordings are in a companion dataset,
 [`AD-Assurance-Lab/ouster-lidar-drives`](https://huggingface.co/datasets/AD-Assurance-Lab/ouster-lidar-drives).
 | Collection | When | What | Size |
 | `radar_lidar_2020-21` | 2020-03-05, 2021-01-07 | a highway and a city drive, radar only | 14 MB |
 | `zed2i_campus_2022-07` | 2022-07-27, 2022-07-29 | two campus drives, ZED 2i left camera | 1.6 GB |
 | `lidar_weather_tests_2019` | Oct-Nov 2019 | 13 static 2D-lidar runs in four weather conditions | 2.5 MB |
+| `phone_snow_2020-02` | 2020-02-09 | 4 phone videos and 16 photos through the windshield on snowy highways | 1.0 GB |
+| `calibration_2023-24` | 2023-12-21, 2024-05-10 | two camera-LiDAR chessboard calibration recordings, one camera each | 959 MB |
 | `wmu_shuttle_2025-01` | 2025-01-29 | one 3-minute campus shuttle drive, one camera | 531 MB |
 ## Sensors
 | Sensor | Make and model | Collections | Source |
 |---|---|---|---|
+| Cameras | Basler, 1440×1080 (six at about 15 fps in the urban drive, one in the radar tests, one at about 10 fps on the shuttle, one in each calibration recording) | `kia_urban_2023-12`, `radar_tests_2023-24`, `calibration_2023-24`, `wmu_shuttle_2025-01` | `camera_info` in the bags |
 | Stereo camera | Stereolabs ZED 2i (left eye released), 1920×1080, about 14.6 fps | `zed2i_campus_2022-07` | Carow et al. 2023 |
 | Radar | Aptiv (Delphi) ESR 2.5 | `radar_tests_2023-24`, `radar_lidar_2020-21` | Brown et al. 2022 |
 | Second radar | smartmicro UMRR-96 Type 153 (inferred) | point clouds in three `radar_tests_2023-24` bags (2024-02-15, 2024-03-27) | Brown et al. 2023 sensor list |
 | Road weather | Lufft MARWIS (serial 10722) | `kia_urban_2023-12` | `/LastValues` topic |
 | 2D lidar | Slamtec RPLIDAR A2 | `lidar_weather_tests_2019` | Goberville et al. 2020 |
 | Drive by wire | PolySync OSCC on the lab Kia Niro | `kia_urban_2023-12`, `radar_tests_2023-24` | Brown et al. 2022 |
+| LiDAR | Ouster OS1-64 Gen1, serial 991951000513 (IMU here, plus its metadata in the radar tests and the shuttle; point clouds in the companion dataset) | `kia_urban_2023-12`, `radar_tests_2023-24`, `calibration_2023-24`, `wmu_shuttle_2025-01` | sensor metadata |
 ## Conventions
 run, the condition, distance, duration and scan count, the mean number of finite returns per scan, and the authors'
 published "average hits" on the target (a different measure).
+## `calibration_2023-24`: camera-LiDAR calibration recordings
+Two recordings of a chessboard target moved in front of a Basler camera and the Ouster, for camera-LiDAR calibration.
+| Recording | Where | Duration | Camera frames | Also |
+|---|---|---|---|---|
+| `2023-12-21_cam_lidar` | indoors, in the lab | 91.8 s | 354 at about 4 fps (`camera_01`) | `camera_info`, `/tf` |
+| `2024-05-10_chessboard` | outdoors, a parking lot | 137.7 s | 4,130 at about 30 fps (`camera_front`) | `camera_info`, `/tf`, Ouster IMU |
+The cameras are HEVC (lossless FFV1 in the archive), with faces blurred (see Privacy). No calibration result was
+recorded: `/tf` holds only the Ouster's internal frames. The LiDAR scans are in the companion dataset
+(`calibration_2023-24`).
+## `phone_snow_2020-02`: snowy highway, phone captures
+Four videos (1920×1080 at 30 fps, 6.0 minutes in total) and 16 photos (4032×3024) taken with a phone through a car's
+windshield on 2020-02-09, on snow-covered highways near Kalkaska in northern Michigan. The video streams and the photo
+image data are the phone's originals; the audio tracks and all file metadata were removed. `captures.parquet` keeps each
+file's UTC time, video duration and the phone's GPS position. The photos' positions are the phone's last fix and can lag
+by a few minutes.
 ## `wmu_shuttle_2025-01`: campus shuttle drive
 One 179.5 s campus drive on 2025-01-29: a Basler camera at 1440×1080 and about 10 fps, 1,724 frames, as HEVC (lossless
 ## Privacy
+The driving cameras face outward. Pedestrians are small and distant; parked-car plates are legible in a few frames and
+are not blurred, as in the lab's winter-driving release.
+In `calibration_2023-24` the people moving the chessboard have their faces blurred. Faces and heads were found with
+OpenCV YuNet and torchvision Keypoint R-CNN, each box was held two frames either side, and the frames left unblurred
+were checked by eye. In a few frames of `2023-12-21_cam_lidar` the blur also covers part of the board. The MD5s in
+`frames.parquet` are of the original images, so they do not match these videos; the originals stay in the lab
+archive.
 ## Citation
   Region of Interest," SAE Technical Paper 2022-01-0078, doi:10.4271/2022-01-0078.
 * **`radar_tests_2023-24`**: related to N. E. Brown et al., "Real World Use Case Evaluation of Radar Retro-reflectors
   for Autonomous Vehicle Lane Detection Applications," SAE Technical Paper 2024-01-2042, doi:10.4271/2024-01-2042.
+* **`kia_urban_2023-12`, `calibration_2023-24`, `phone_snow_2020-02`, `wmu_shuttle_2025-01`**: no paper yet; please
+  cite this dataset.
 ```bibtex
 @misc{wmu_lab_drives_2026,

calibration_2023-24/2023-12-21_cam_lidar/camera_01.blur.json ADDED Viewed

	@@ -0,0 +1 @@

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+   "tf2_msgs/msg/TFMessage",
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+  ],
+  "/ouster/points1": [
+   "sensor_msgs/msg/PointCloud2",
+   917
+  ]
+ },
+ "topics_archive_only": {
+  "/ouster/points1": 917
+ },
+ "hevc_faces_blurred": {
+  "camera_01": "camera_01.blur.json"
+ },
+ "blur_note": "Faces and heads blurred in the HEVC (OpenCV YuNet + torchvision Keypoint R-CNN, boxes held 2 frames either side, unblurred frames checked by eye). frames.parquet MD5s are of the original images; the lossless original stays in the lab archive."
+}

calibration_2023-24/2024-05-10_chessboard/camera_front.blur.json ADDED Viewed

The diff for this file is too large to render. See raw diff

calibration_2023-24/2024-05-10_chessboard/camera_front.frames.parquet ADDED Viewed

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calibration_2023-24/2024-05-10_chessboard/camera_front.hevc.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

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+size 904160341

calibration_2023-24/2024-05-10_chessboard/sensors/camera_front_camera_info.parquet ADDED Viewed

	@@ -0,0 +1,3 @@

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calibration_2023-24/2024-05-10_chessboard/sensors/ouster_imu.parquet ADDED Viewed

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calibration_2023-24/2024-05-10_chessboard/source.json ADDED Viewed

	@@ -0,0 +1,46 @@

+{
+ "source_bag": "calibration_chessboard.bag",
+ "bytes": 42877972120,
+ "start_ns": 1715377550063331565,
+ "end_ns": 1715377687715282049,
+ "duration_s": 137.65,
+ "nominal_fps": "30",
+ "hevc_qp": "13",
+ "frames": {
+  "camera_front": 4130
+ },
+ "topics_in_bag": {
+  "/ouster/imu": [
+   "sensor_msgs/msg/Imu",
+   13765
+  ],
+  "camera_front/camera_info": [
+   "sensor_msgs/msg/CameraInfo",
+   4130
+  ],
+  "/camera_front/image_raw": [
+   "sensor_msgs/msg/Image",
+   4130
+  ],
+  "/camera_front/image_rect": [
+   "sensor_msgs/msg/Image",
+   4130
+  ],
+  "/tf": [
+   "tf2_msgs/msg/TFMessage",
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+  ],
+  "/ouster/points": [
+   "sensor_msgs/msg/PointCloud2",
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+  ]
+ },
+ "topics_archive_only": {
+  "/camera_front/image_rect": 4130,
+  "/ouster/points": 1376
+ },
+ "hevc_faces_blurred": {
+  "camera_front": "camera_front.blur.json"
+ },
+ "blur_note": "Faces and heads blurred in the HEVC (OpenCV YuNet + torchvision Keypoint R-CNN, boxes held 2 frames either side, unblurred frames checked by eye). frames.parquet MD5s are of the original images; the lossless original stays in the lab archive."
+}

calibration_2023-24/SHA256SUMS ADDED Viewed

	@@ -0,0 +1,13 @@

+14e050911d6a8993023532d4f919fd138b8d1bf3a81e8d57f407259ecc711671  ./2023-12-21_cam_lidar/camera_01.blur.json
+11b2d9feb0ede1ed876b365cad14a26217debac52f3f3513730c157089dc62e2  ./2023-12-21_cam_lidar/camera_01.frames.parquet
+2016fb2b55f87f4fcf9cedb241b757e9c04003ba33b6f8ef5676a5e8b25e0561  ./2023-12-21_cam_lidar/camera_01.hevc.mp4
+c2d771f175573e8ea4d90d4c64a107898cb006de3b9a954bd45030796f4120cd  ./2023-12-21_cam_lidar/sensors/camera_01_camera_info.parquet
+966ebcb7a8cddc4b1c3856c1a5b7ac2b56b07b4e3f3e28b1c3b31df23c960522  ./2023-12-21_cam_lidar/sensors/tf.parquet
+4982edaa9f1d63bd4a4a740488ae4a1545024dc874130cc6153cb5091c0811f6  ./2023-12-21_cam_lidar/source.json
+514f0e92324a23421c42cc353f095527761540c67f0e76d99a56d259aa330bef  ./2024-05-10_chessboard/camera_front.blur.json
+0c4d39a67b71c19ae73f8c7932155e6dda2a433ff6417d349e75cc2cb9cc80d6  ./2024-05-10_chessboard/camera_front.frames.parquet
+106499aa2a12ac0465cb6f51da799aa9262fd2bf255412b7ad73a99a04cc7c81  ./2024-05-10_chessboard/camera_front.hevc.mp4
+44243e124afe91ce71f333bbca847638c07ef59422c8ca0b663c055a6796bf63  ./2024-05-10_chessboard/sensors/camera_front_camera_info.parquet
+f5b92ac39c374c4368d4633e2889ac74588619256d015bbd42bd36cc93d3a1fe  ./2024-05-10_chessboard/sensors/ouster_imu.parquet
+8132ca81d4f808dcaad994ec108fca65f1b36b337a63871a395176872aa70737  ./2024-05-10_chessboard/sensors/tf.parquet
+e08ce5e6e701cebb6bee4775702c189062820a48e106d01c9c0ab34c11f0bbf0  ./2024-05-10_chessboard/source.json

phone_snow_2020-02/IMG_20200209_141643.jpg ADDED Viewed

Git LFS Details

SHA256: e925360f9116052eb1d7aa6f7e3f66d8b9f3f36e77bb6a566a8469850542c832
Pointer size: 132 Bytes
Size of remote file: 3.76 MB

phone_snow_2020-02/IMG_20200209_141645.jpg ADDED Viewed

Git LFS Details

SHA256: 2b982b8db80e764b3af84866ab7bff8abb3ec41e0166157b786c653e44c296af
Pointer size: 132 Bytes
Size of remote file: 4.71 MB

phone_snow_2020-02/IMG_20200209_141646.jpg ADDED Viewed

Git LFS Details

SHA256: 4329105a61bc015a4d893953b2e2f2bcd68eb69f82dc35de896d61764b8f98da
Pointer size: 132 Bytes
Size of remote file: 4.38 MB

phone_snow_2020-02/IMG_20200209_141648.jpg ADDED Viewed

Git LFS Details

SHA256: 589550be86cec2d1514cd127c56561ea13541a36e581153b046566301e210e3e
Pointer size: 132 Bytes
Size of remote file: 3.65 MB

phone_snow_2020-02/IMG_20200209_141650.jpg ADDED Viewed

Git LFS Details

SHA256: 00480dfcade9c84cb7757348c81e03fc560678dfbc29d484f28b7a76ef39c7ba
Pointer size: 132 Bytes
Size of remote file: 3.28 MB

phone_snow_2020-02/IMG_20200209_141701.jpg ADDED Viewed

Git LFS Details

SHA256: b8869c33de23f579139fd9c119a2a1dc2a7f8d186078754c8baf7da830247fb5
Pointer size: 132 Bytes
Size of remote file: 3.46 MB

phone_snow_2020-02/IMG_20200209_141703.jpg ADDED Viewed

Git LFS Details

SHA256: 3f8cb70f59670fed274503358a9938a16762cc324d10f18122c7f26306d2226e
Pointer size: 132 Bytes
Size of remote file: 3.1 MB

phone_snow_2020-02/IMG_20200209_141705.jpg ADDED Viewed

Git LFS Details

SHA256: 6162d6a2130e51f40956b97f35d268cb9d0d48dd93cc4de3dfff8e77e4fe915b
Pointer size: 132 Bytes
Size of remote file: 3.36 MB

phone_snow_2020-02/IMG_20200209_141707.jpg ADDED Viewed

Git LFS Details

SHA256: 75d4f03d03e7fda8d729e02abace042cfe6f8c3c59c58d8f925fb28398ccc8b6
Pointer size: 132 Bytes
Size of remote file: 3.38 MB

phone_snow_2020-02/IMG_20200209_141728.jpg ADDED Viewed

Git LFS Details

SHA256: 28333b8174ff918e6dcaae735607a6c6517ec606bfc166467d5bef4dca5ded63
Pointer size: 132 Bytes
Size of remote file: 2.58 MB

phone_snow_2020-02/IMG_20200209_142359.jpg ADDED Viewed

Git LFS Details

SHA256: a21b4aa5e04ac45dbe9ea7b5302e6fc59b0700f10b455cfdf62a5a47713ab566
Pointer size: 132 Bytes
Size of remote file: 3.91 MB

phone_snow_2020-02/IMG_20200209_142403.jpg ADDED Viewed

Git LFS Details

SHA256: 64d5921933f06a4a0b449d1fa1bee948ded3cf3eecb93f25d5d650bfd3a28ae2
Pointer size: 132 Bytes
Size of remote file: 3.85 MB

phone_snow_2020-02/IMG_20200209_142404.jpg ADDED Viewed

Git LFS Details

SHA256: 9cd9d2914966c4a0f4e5c7cc52e0310906cf829a7d546e06cea1e19d630e650b
Pointer size: 132 Bytes
Size of remote file: 3.81 MB

phone_snow_2020-02/IMG_20200209_142405.jpg ADDED Viewed

Git LFS Details

SHA256: 3ba3ac68ef3e2945475ebf77e10f3506a71f71ca66e5f7ef1b93f5bd02bfd899
Pointer size: 132 Bytes
Size of remote file: 3.71 MB

phone_snow_2020-02/IMG_20200209_145634.jpg ADDED Viewed

Git LFS Details

SHA256: b471759e0afc4aa60bfbde54a97d300b5f7e878318cc2502451e64e9a38a1962
Pointer size: 132 Bytes
Size of remote file: 2.92 MB

phone_snow_2020-02/IMG_20200209_145636.jpg ADDED Viewed

Git LFS Details

SHA256: ca519a4aa25142b2d3f619126d2c2b71da4535c7b5aa5e18d3f99596ba4f0b0c
Pointer size: 132 Bytes
Size of remote file: 2.72 MB

phone_snow_2020-02/SHA256SUMS ADDED Viewed

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