Raw_data_Batch_I: Lakeshore Drive

Stutenberg, Kevin; Chen, Yihe

doi:10.15483/2203724

Title: Raw_data_Batch_I: Lakeshore Drive

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Abstract

Date of collection: May 18, 2023 Location: Lakeshore Drive, Chicago, IL Content: “North to South” “South to North” This data set contains lidar and vision data collected along Lakeshore Drive. The “South to North” folder starts from the intersection of Lakeshore Drive and 31st Street and ends at Hollywood Towers Chicago. The “North to South” folder starts from the intersection of Lakeshore Drive and Sheridan Avenue and ends at the 31st Street intersection. 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_rawmore »« 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:: 2203724

DOI:: https://doi.org/10.15483/2203724

Citation Formats


                    Stutenberg, Kevin, and Chen, Yihe. Raw_data_Batch_I: Lakeshore Drive.  United States: N. p., 2025. 
        Web.  doi:10.15483/2203724.

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                    Stutenberg, Kevin, & Chen, Yihe. Raw_data_Batch_I: Lakeshore Drive.  United States.  doi:https://doi.org/10.15483/2203724

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                    Stutenberg, Kevin, and Chen, Yihe. 2025.  
"Raw_data_Batch_I: Lakeshore Drive".  United States.  doi:https://doi.org/10.15483/2203724.  https://www.osti.gov/servlets/purl/2203724. Pub date:Fri Dec 12 04:00:00 UTC 2025

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@article{osti_2203724,

  title        = {Raw_data_Batch_I: Lakeshore Drive},

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

  abstractNote = {Date of collection: May 18, 2023 Location: Lakeshore Drive, Chicago, IL Content: “North to South” “South to North” This data set contains lidar and vision data collected along Lakeshore Drive. The “South to North” folder starts from the intersection of Lakeshore Drive and 31st Street and ends at Hollywood Towers Chicago. The “North to South” folder starts from the intersection of Lakeshore Drive and Sheridan Avenue and ends at the 31st Street intersection. 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. ![lakeshore drive image](lakeshore-drive.png)},

  doi          = {10.15483/2203724},

  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/10.15483/2203724

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