RoboBus: A Diverse and Cross-Border Public Transport Dataset

Georgios Varisteas, Raphael Frank, Francois Robinet
2021 2021 IEEE International Conference on Pervasive Computing and Communications Workshops and other Affiliated Events (PerCom Workshops)  
Academic datasets are an important source of information to validate and benchmark novel research concepts. In this paper we present RoboBus, a dataset recorded with a commercial bus on a cross-border public transport route between Luxembourg and France. The dataset contains approximately 8 hours of driving data divided into 15 trips that have been recorded over 4 days. It includes about 1.7 million anonymized images captured by two road-facing cameras, GNSS traces, data from a 9-axis IMU, and
more » ... nformation directly retrieved from the CAN interface of the vehicle including speed, steering angle and position of the accelerator/brake pedals. We use an end-to-end autonomous driving approach that relies on imitation learning as use case example for the dataset.
doi:10.1109/percomworkshops51409.2021.9431129 fatcat:ua7bdhriqjhxrbg6lljggcfgdi