TartanDrive 2.0: More Modalities and Better Infrastructure to Further Self-Supervised Learning Research in Off-Road Driving Tasks

Understand

We present TartanDrive 2.0, a large-scale off-road driving dataset for self-supervised learning tasks.

• In 2021 we released TartanDrive 1.0, which is one of the largest datasets for off-road terrain.
• As a follow-up to our original dataset, we collected seven hours of data at speeds of up to 15m/s with the addition of three new LiDAR sensors alongside the original camera, inertial, GPS, and proprioceptive sensors.
• We also release the tools we use for collecting, processing, and querying the data, including our metadata system designed to further the utility of our data.