mlsanityData to 7 Oct 2026

Real-time Kinematic Ground Truth for the Oxford RobotCar Dataset

arXiv 2002.10152 ↗First posted 24 Feb 2020cs.RO cs.CVcited by 28

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Abstract (arXiv)

We describe the release of reference data towards a challenging long-term localisation and mapping benchmark based on the large-scale Oxford RobotCar Dataset. The release includes 72 traversals of a route through Oxford, UK, gathered in all illumination, weather and traffic conditions, and is representative of the conditions an autonomous vehicle would be expected to operate reliably in. Using post-processed raw GPS, IMU, and static GNSS base station recordings, we have produced a globally-consistent centimetre-accurate ground truth for the entire year-long duration of the dataset. Coupled with a planned online benchmarking service, we hope to enable quantitative evaluation and comparison of different localisation and mapping approaches focusing on long-term autonomy for road vehicles in urban environments challenged by changing weather.

Key facts. Cited by 28 papers in the map (data through 7 Oct 2026). First posted on arXiv 24 Feb 2020.

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Citing papers per year: 2021: 8; 2022: 3; 2023: 5; 2024: 6; 2025: 3; 2026: 3.

28 papers.

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  1. 2022Visual Cross-View Metric Localization with Dense Uncertainty Estimatescited by 48
  2. 2023Convolutional Cross-View Pose Estimationcited by 36
  3. 2021Hyperdimensional computing as a framework for systematic aggregation of image descriptorscited by 32
  4. 2023Learning Dense Flow Field for Highly-accurate Cross-view Camera Localizationcited by 24
  5. 2021Probabilistic Visual Place Recognition for Hierarchical Localizationcited by 20
  6. 2024DurLAR: A High-fidelity 128-channel LiDAR Dataset with Panoramic Ambient and Reflectivity Imagery for Multi-modal Autonomous Driving Applicationscited by 7
  7. 2024MSSPlace: Multi-Sensor Place Recognition with Visual and Text Semanticscited by 7
  8. 2021Beyond ANN: Exploiting Structural Knowledge for Efficient Place Recognitioncited by 6
  9. 2021Probabilistic Appearance-Invariant Topometric Localization with New Place Awarenesscited by 5
  10. 2023Deep Declarative Dynamic Time Warping for End-to-End Learning of Alignment Pathscited by 5
  11. 2021Tight Integration of Feature-based Relocalization in Monocular Direct Visual Odometrycited by 4
  12. 2023Unsupervised Quality Prediction for Improved Single-Frame and Weighted Sequential Visual Place Recognitioncited by 4
16 more
  1. 2022ImPosing: Implicit Pose Encoding for Efficient Visual Localizationcited by 3
  2. 2022CPO: Change Robust Panorama to Point Cloud Localizationcited by 3
  3. 2021Learning to Predict Repeatability of Interest Pointscited by 1
  4. 2024Is That Rain? Understanding Effects on Visual Odometry Performance for Autonomous UAVs and Efficient DNN-based Rain Classification at the Edgecited by 1
  5. 2025Flexible and Efficient Spatio-Temporal Transformer for Sequential Visual Place Recognitioncited by 1
  6. 2021Deep auxiliary learning for visual localization using colorization taskcited by 0
  7. 2021RADA: Robust Adversarial Data Augmentation for Camera Localization in Challenging Weathercited by 0
  8. 2023Mobile Mapping Mesh Change Detection and Updatecited by 0
  9. 2024ANNA: A Deep Learning Based Dataset in Heterogeneous Traffic for Autonomous Vehiclescited by 0
  10. 2024SID: Stereo Image Dataset for Autonomous Driving in Adverse Conditionscited by 0
  11. 2024Robust Vehicle Localization and Tracking in Rain using Street Mapscited by 0
  12. 2025NPSim: Nighttime Photorealistic Simulation From Daytime Images With Monocular Inverse Rendering and Ray Tracingcited by 0
  13. 2025Towards classification-based representation learning for place recognition on LiDAR scanscited by 0
  14. 2026Virtual-point-based Solutions to Handle Generalized Absolute Pose Problemcited by 0
  15. 2026WildCity: A Real-World City-Scale Testbed for Rendering, Simulation, and Spatial Intelligencecited by 0
  16. 2026A Multi-Vehicle Dataset with Camera, LiDAR, and Radar Sensors and Scanned 3D Models for Custom Auto-Annotation using RTK-GNSScited by 0