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 capturedby two road-facing cameras, GNSS traces, data from a 9-axis IMU, and information directly retrieved from the CAN interface of the vehicle including speed, steering angle and position of the accelerator/brake pedals.

For the detailed description of the dataset, please refer to our paper. If you use this dataset in your research, please use the following citation:

@INPROCEEDINGS{9431129,  
  author={Varisteas, Georgios and Frank, Raphaël and Robinet, François},  
  booktitle={2021 IEEE International Conference on Pervasive Computing and Communications Workshops and other Affiliated Events (PerCom Workshops)},  
  title={RoboBus: A Diverse and Cross-Border Public Transport Dataset},
  year={2021},
  pages={269-274},  
  doi={10.1109/PerComWorkshops51409.2021.9431129}
}

[CSV_FILE]
|
+--[TYPE]
|
+--[TIME (ms)]
|
+--[CAN_DATA (type 1)]
|  |
|  +—[VEHICLE_SPEED (km/h)]
+--[CAN_DATA (type 2)]
|  |
|  +—[ACC_PEDAL_POSITION]
+--[CAN_DATA (type 3)]
|  |
|  +—[BRK_PEDAL_POSITION]
+--[CAN_DATA (type 4)]
|  |
|  +—[STE_WHEEL_ANGLE]
+--[IMU_DATA (type 50, 51 and 52)]
|  |
|  +—[ACC/MAG/GYR X]
|  +—[ACC/MAG/GYR Y]
|  +—[ACC/MAG/GYR Z]
+--[GNSS_DATA (type 100)]
|  |
|  +—[TIMESTAMP]
|  +—[LATITUDE]
|  +—[LONGITUDE]
|  +—[ALTITUDE]
+--[CAMERA_INFO (type 201 and 202 )]
|  |
|  +—[PATH_TO_IMAGE]

The total dataset is ~67GB and can be downloaded here.

This work has been financially supported by the EU INTERREG GR Terminal project. The authors would also like to thank Voyages Emile Weber Luxembourg for their support and for granting us access to their bus.