Raw_data_Batch_I: Downers Grove to Darien

Stutenberg, Kevin; Chen, Yihe

doi:10.15483/2203722

Title: Raw_data_Batch_I: Downers Grove to Darien

Dataset
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Abstract

Date of collection: May 11, 2023 Location: Downers Grove to Darien, IL This dataset contains lidar and vision data collected in Downers Grove and Darien, IL. The vehicle started in Downers Grove at the intersection of Main and Ogden, headed east. At the intersection of Odgen and IL 83, it then headed south until IL 33 and then west along IL 33 until the intersection of IL 33 and Lemont Road. It then headed north along Lemont Road/Main Street until the intersection of Main and Ogden. 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. -more »« less

Authors:

Stutenberg, Kevin; Chen, Yihe

Argonne National Laboratory

Publication Date:: Fri Dec 12 04:00:00 UTC 2025

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:: 2203722

DOI:: https://doi.org/10.15483/2203722

Citation Formats


                    Stutenberg, Kevin, and Chen, Yihe. Raw_data_Batch_I: Downers Grove to Darien.  United States: N. p., 2025. 
        Web.  doi:10.15483/2203722.

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                    Stutenberg, Kevin, & Chen, Yihe. Raw_data_Batch_I: Downers Grove to Darien.  United States.  doi:https://doi.org/10.15483/2203722

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                    Stutenberg, Kevin, and Chen, Yihe. 2025.  
"Raw_data_Batch_I: Downers Grove to Darien".  United States.  doi:https://doi.org/10.15483/2203722.  https://www.osti.gov/servlets/purl/2203722. Pub date:Fri Dec 12 04:00:00 UTC 2025

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@article{osti_2203722,

  title        = {Raw_data_Batch_I: Downers Grove to Darien},

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

  abstractNote = {Date of collection: May 11, 2023 Location: Downers Grove to Darien, IL This dataset contains lidar and vision data collected in Downers Grove and Darien, IL. The vehicle started in Downers Grove at the intersection of Main and Ogden, headed east. At the intersection of Odgen and IL 83, it then headed south until IL 33 and then west along IL 33 until the intersection of IL 33 and Lemont Road. It then headed north along Lemont Road/Main Street until the intersection of Main and Ogden. 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. ![downers grove image](downers-grove-darien.png)},

  doi          = {10.15483/2203722},

  journal      = {},

  number       = ,

  volume       = ,

  place        = {United States},

  year         = {Fri Dec 12 04:00:00 UTC 2025},

  month        = {Fri Dec 12 04:00:00 UTC 2025}

}

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DOI: https://doi.org/10.15483/2203722

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