Campus Map

Campus Map is an automotive dataset comprising 22 driving and parking sequences collected around the University of Surrey campus and its car park. 6 cameras provide 360° coverage around the vehicle. Trajectories have been reconstructed from 64-beam LiDAR and 5 Hz GPS.

The dataset is provided by the University of Surrey, CVSSP under CC BY-NC-SA 4.0. In short, you can use and adapt it for non-commercial purposes but please cite our paper:

@inproceedings{campusmap,
  author={Ross, James and Kaygusuz, Nimet and Mendez, Oscar and Bowden, Richard}, 
  title={Campus Map: A Large-Scale Dataset to Support Multi-View VO, SLAM and BEV Estimation},
  booktitle={2024 IEEE International Conference on Robotics and Automation (ICRA)} 
  year={2024}}

Data

Download: All data (ROS bags)

Or, you can download subsets of the data or individual sequences below.

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Subsets

All driving sequences	ROS bags
All parking sequences	ROS bags
Bird's Eye View (BEV) semantic maps	LMDBs

The following tools are also available:

Python development kit	Download
Automotive simulator	Available on GitLab

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Individual Sequences

Campus Only

A	Driving	9 m 31 s	ROS bags
B	Driving	5 m 35 s	ROS bags
C	Driving	6 m 52 s	ROS bags
D	Driving	10 m 40 s	ROS bags
E	Driving	6 m 44 s	ROS bags

Campus and Car Park

F	Driving	13 m 5 s	ROS bags

Car Park Only

G	Driving & Parking	49 m 22 s	ROS bags
H	Driving & Parking	38 m 41 s	ROS bags
I	Parking	6 m 25 s	ROS bags
J	Parking	2 m 30 s	ROS bags
K	Parking	4 m 32 s	ROS bags
L	Parking	5 m 42 s	ROS bags
M	Parking	2 m 2 s	ROS bags
N	Parking	2 m 13 s	ROS bags
O	Parking	5 m 25 s	ROS bags
P	Parking	3 m 12 s	ROS bags
Q	Parking	5 m 25 s	ROS bags
R	Driving & Parking	9 m 43 s	ROS bags
S	Parking	4 m 59 s	ROS bags
T	Parking	4 m 46 s	ROS bags
U	Parking	5 m 24 s	ROS bags
V	Parking	5 m 21 s	ROS bags

Contact

Please direct any concerns with the dataset or download page to j.ross@surrey.ac.uk.