OORD：牛津越野雷达数据集
OORD: The Oxford Offroad Radar Dataset
AI总结：
针对越野环境雷达定位研究，发布了在苏格兰高地极端天气下采集的OORD数据集，包含90GiB雷达数据、GPS/IMU参考及开源地点识别系统性能示例，以促进雷达地点识别研究。
摘要：
近年来，学术界对毫米波扫描雷达在自动驾驶车辆定位和场景理解方面的兴趣日益浓厚，同时商业应用也在不断增长。尽管已经发布了多个支持该研究领域的数据集，但它们主要集中于城市或半城市环境。然而，崎岖的越野部署是重要的应用领域，也为该传感器技术带来了独特的挑战和机遇。因此，牛津越野雷达数据集（OORD）提供了在苏格兰高地极端天气下采集的数据。我们提供给社区的雷达数据附带了GPS/INS参考数据，以进一步促进雷达地点识别的研究。我们总共发布了超过90GiB的雷达扫描数据以及GPS和IMU读数，通过驾驶四条不同路线进行了11次出行，总计约154公里的崎岖驾驶。这一领域在文献中日益受到探索，因此我们展示并发布了近期开源的雷达地点识别系统及其在我们数据集上的性能示例。这包括一个学习的神经网络，我们也发布了其权重。数据和工具可在https://oxford-robotics-institute.github.io/oord-dataset免费提供给社区。
英文摘要：
There is a growing academic interest as well as commercial exploitation of millimetre-wave scanning radar for autonomous vehicle localisation and scene understanding. Although several datasets to support this research area have been released, they are primarily focused on urban or semi-urban environments. Nevertheless, rugged offroad deployments are important application areas which also present unique challenges and opportunities for this sensor technology. Therefore, the Oxford Offroad Radar Dataset (OORD) presents data collected in the rugged Scottish highlands in extreme weather. The radar data we offer to the community are accompanied by GPS/INS reference - to further stimulate research in radar place recognition. In total we release over 90GiB of radar scans as well as GPS and IMU readings by driving a diverse set of four routes over 11 forays, totalling approximately 154km of rugged driving. This is an area increasingly explored in literature, and we therefore present and release examples of recent open-sourced radar place recognition systems and their performance on our dataset. This includes a learned neural network, the weights of which we also release. The data and tools are made freely available to the community at https://oxford-robotics-institute.github.io/oord-dataset.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
