Raw_data_Batch_I: Lisle to Waterfall Glen

Stutenberg, Kevin; Chen, Yihe

doi:10.15483/2203725

Title: Raw_data_Batch_I: Lisle to Waterfall Glen

Dataset
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Abstract

Date of collection: May 11, 2023 Location: DuPage County, IL This dataset contains lidar and vision data collected between Lisle, IL, and the Waterfall Glen parking lot. The vehicle started near Cass School District 63, headed east along IL 34. The vehicle then turned south along IL 83 until Interstate 55. Finally, the vehicle turned southwest along I 55 until Exit 273A and headed toward the Waterfall Glen parking lot. 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 lidarmore »« 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:: 2203725

DOI:: https://doi.org/10.15483/2203725

Citation Formats


                    Stutenberg, Kevin, and Chen, Yihe. Raw_data_Batch_I: Lisle to Waterfall Glen.  United States: N. p., 2025. 
        Web.  doi:10.15483/2203725.

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                    Stutenberg, Kevin, & Chen, Yihe. Raw_data_Batch_I: Lisle to Waterfall Glen.  United States.  doi:https://doi.org/10.15483/2203725

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                    Stutenberg, Kevin, and Chen, Yihe. 2025.  
"Raw_data_Batch_I: Lisle to Waterfall Glen".  United States.  doi:https://doi.org/10.15483/2203725.  https://www.osti.gov/servlets/purl/2203725. Pub date:Fri Dec 12 04:00:00 UTC 2025

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@article{osti_2203725,

  title        = {Raw_data_Batch_I: Lisle to Waterfall Glen},

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

  abstractNote = {Date of collection: May 11, 2023 Location: DuPage County, IL This dataset contains lidar and vision data collected between Lisle, IL, and the Waterfall Glen parking lot. The vehicle started near Cass School District 63, headed east along IL 34. The vehicle then turned south along IL 83 until Interstate 55. Finally, the vehicle turned southwest along I 55 until Exit 273A and headed toward the Waterfall Glen parking lot. 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. ![lisle waterfall image](lisle-waterfall.png)},

  doi          = {10.15483/2203725},

  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/10.15483/2203725

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