Raw_data_Batch_I: Ashland Avenue

Stutenberg, Kevin; Chen, Yihe

doi:10.15483/2203721

Title: Raw_data_Batch_I: Ashland Avenue

Dataset
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Abstract

Date of collection: May 26, 2023 Location: Ashland Avenue, Chicago, IL This data set contains lidar and vision data collected along Ashland Avenue. A south-to-north run starts from the intersection of Irving Park and Ashland and ends at Andersonville Garden. A north-to-south run starts from Andersonville Garden and ends around the intersection of Irving Park and Ashland. The data contains the following Robot Operating System (ROS) topics: - /Central_Camera_blurred – Image flow from coaxial camera heading, vehicle front. - /Left_Camera_blurred – Image flow from left camera, 60° from central camera on the left side. - /Right_Camera_blurred – Image flow from right camera, 60° from central camera on the right side. - /camera0/camera_info – Intrinsic and distortion information of left camera. - /camera0/projection_matrix – Extrinsic matrix of left camera from lidar. - /camera2/camera_info – Intrinsic and distortion information of central camera. - /camera2/projection_matrix – Extrinsic matrix of central camera from lidar. - /camera5/camera_info – Intrinsic and distortion information of right camera. - /camera5/projection_matrix – Extrinsic matrix of right camera from lidar. - /novatel/oem7/bestpos – Latitude, longitude, and elevation information from NovAtel GNSS-INS system. - /points_raw – VLP-32 lidar point cloud. - /tf – Vehicle base frame. The data are organized intomore »« less

Authors:

Stutenberg, Kevin; Chen, Yihe

Argonne National Laboratory

Publication Date:: Tue Jan 27 19:00:00 EST 2026

DOE Contract Number:: AC05-76RL01830

Research Org.:: National Renewable Energy Laboratory; Pacific Northwest National Laboratory; Idaho National Laboratory

Sponsoring Org.:: USDOE Office of Energy Efficiency and Renewable Energy (EERE), Transportation Office. Vehicle Technologies Office (EE-3V)

Subject:: 32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATION; CAN data; electric vehicles; light-duty vehicles; sensor fusion; vehicle GPS; video

OSTI Identifier:: 2203721

DOI:: https://doi.org/10.15483/2203721

Citation Formats


                    Stutenberg, Kevin, and Chen, Yihe. Raw_data_Batch_I: Ashland Avenue.  United States: N. p., 2026. 
        Web.  doi:10.15483/2203721.

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                    Stutenberg, Kevin, & Chen, Yihe. Raw_data_Batch_I: Ashland Avenue.  United States.  doi:https://doi.org/10.15483/2203721

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                    Stutenberg, Kevin, and Chen, Yihe. 2026.  
"Raw_data_Batch_I: Ashland Avenue".  United States.  doi:https://doi.org/10.15483/2203721.  https://www.osti.gov/servlets/purl/2203721. Pub date:Tue Jan 27 19:00:00 EST 2026

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@article{osti_2203721,

  title        = {Raw_data_Batch_I: Ashland Avenue},

  author       = {Stutenberg, Kevin and Chen, Yihe},

  abstractNote = {Date of collection: May 26, 2023 Location: Ashland Avenue, Chicago, IL This data set contains lidar and vision data collected along Ashland Avenue. A south-to-north run starts from the intersection of Irving Park and Ashland and ends at Andersonville Garden. A north-to-south run starts from Andersonville Garden and ends around the intersection of Irving Park and Ashland. The data contains the following Robot Operating System (ROS) topics: - /Central_Camera_blurred – Image flow from coaxial camera heading, vehicle front. - /Left_Camera_blurred – Image flow from left camera, 60° from central camera on the left side. - /Right_Camera_blurred – Image flow from right camera, 60° from central camera on the right side. - /camera0/camera_info – Intrinsic and distortion information of left camera. - /camera0/projection_matrix – Extrinsic matrix of left camera from lidar. - /camera2/camera_info – Intrinsic and distortion information of central camera. - /camera2/projection_matrix – Extrinsic matrix of central camera from lidar. - /camera5/camera_info – Intrinsic and distortion information of right camera. - /camera5/projection_matrix – Extrinsic matrix of right camera from lidar. - /novatel/oem7/bestpos – Latitude, longitude, and elevation information from NovAtel GNSS-INS system. - /points_raw – VLP-32 lidar point cloud. - /tf – Vehicle base frame. The data are organized into a data description file and one or more ROS .bag files, dependent on original file size. The data description file provides information about the data collection date, location, and detailed mapping, while the .bag file(s) contain the actual data. Please note that for the purpose of securing personally identifiable information, all license plates and faces included in this publication have been intentionally blurred during real-time processing. ![ashland avenue image](ashland-avenue.png)},

  doi          = {10.15483/2203721},

  journal      = {},

  number       = ,

  volume       = ,

  place        = {United States},

  year         = {Tue Jan 27 19:00:00 EST 2026},

  month        = {Tue Jan 27 19:00:00 EST 2026}

}

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DOI: https://doi.org/10.15483/2203721

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