The Great Outdoors Dataset

Dataset access

Download synchronized sensor data and annotations.

Use the links below to access current annotation packages, raw ROS bags, trajectory previews, and the ontology definition.

Known issue: The 2024 dataset contains partial LiDAR data loss.

Bulk access

Download manifest.

Use the JSON manifest to script downloads across raw ROS bags, radar packages, and annotations.

Manifest

All Download Links

JSON manifest with raw bag, radar, and annotation links for scripted downloads.

Download JSON

Curated downloads

Modality-specific packages.

Download only the released annotation package you need, then use the raw ROS bag table for full sensor replay.

Ontology

Ontology Definition

Semantic class ontology for interpreting labels and semantic categories.

Open Ontology
RGB labels

RGB Segmentation

RGB semantic segmentation package for the released image set.

Download
Captions

RGB Captions

Caption annotations for RGB frames.

Download
Thermal labels

LWIR Segmentation

Long-wave infrared semantic segmentation package.

Download

Raw sequences

ROS bag downloads with trajectory previews.

Each bag contains the original synchronized sensor topics. Use the trajectory maps to select the route before downloading the raw data.

Combined GPS trajectories for all raw ROS bags
Combined trajectory map for all recorded bags.
17 trajectory maps
34.18 km total recorded route length
0 flagged GPS trajectory problems
Open Interactive Map

2025 ROS Bags

January 2025 collection sequences.

2024 ROS Bags

April 2024 collection sequences. Known issue: The 2024 dataset contains partial LiDAR data loss.

GPS trajectory map for tamu_full_stack_ravine_run_1_2024-04-23-12-21-36.bag
ROS bag

tamu_full_stack_ravine_run_1_2024-04-23-12-21-36.bag

Length
1.85 km
Duration
33.4 min
GPS points
8018
Download Bag Open Map

ROS topics

Raw bag contents.

The raw ROS bag includes navigation, imaging, radar, LiDAR, command, and transform topics.

Topic name Message type Description
/Navtech/FFTDatanav_ross/HighPrecisionFFTDataRadar FFT data
/lester/imu/datasensor_msgs/ImuFiltered IMU data from the embedded Warthog IMU
/lester/imu/data_rawsensor_msgs/ImuRaw IMU data from the embedded Warthog IMU
/img_node/intensity_imagesensor_msgs/ImageIntensity image generated by the Ouster LiDAR
/lester/imu/magsensor_msgs/MagneticFieldRaw magnetic field data from the embedded Warthog IMU
/lester/lidar_pointssensor_msgs/PointCloud2Point cloud data from the Ouster LiDAR
/lester/ouster_center/imusensor_msgs/ImuRaw IMU data from the embedded Ouster LiDAR IMU
/lester/lwir_front/camera_infosensor_msgs/CameraInfoIntrinsics of the thermal camera
/lester/lwir_front/image_rect/compressedsensor_msgs/CompressedImageCompressed thermal image stream
/lester/stereo_left/camera_infosensor_msgs/CameraInfoLeft RGB camera intrinsics
/lester/stereo_left/image_rect_color/compressedsensor_msgs/CompressedImageCompressed image stream from the left RGB camera
/lester/stereo_right/camera_infosensor_msgs/CameraInfoRight RGB camera intrinsics
/lester/stereo_right/image_rect_color/compressedsensor_msgs/CompressedImageCompressed image stream from the right RGB camera
/lester/rear_center/camera_infosensor_msgs/CameraInfoRear center RGB camera intrinsics
/lester/rear_center/image_rect_color/compressedsensor_msgs/CompressedImageCompressed image stream from the rear RGB camera
/lester/ublox/fixsensor_msgs/NavSatFixINS data from u-blox
/lester/right_drive/status/battery_currentstd_msgs/Float64Right drive battery current
/lester/right_drive/status/battery_voltagestd_msgs/Float64Right drive battery voltage
/lester/left_drive/status/battery_currentstd_msgs/Float64Left drive battery current
/lester/left_drive/status/battery_voltagestd_msgs/Float64Left drive battery voltage
/lester/rc_teleop/cmd_velgeometry_msgs/TwistRC input command to the Warthog
/tftf2_msgs/TFMessageDynamic transforms
/tf_statictf2_msgs/TFMessageStatic transforms