{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,28]],"date-time":"2026-07-28T16:04:45Z","timestamp":1785254685447,"version":"3.55.0"},"reference-count":58,"publisher":"SAGE Publications","issue":"3","license":[{"start":{"date-parts":[[2024,9,6]],"date-time":"2024-09-06T00:00:00Z","timestamp":1725580800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"funder":[{"DOI":"10.13039\/100002427","name":"Ford Motor Company","doi-asserted-by":"publisher","award":["N028603"],"award-info":[{"award-number":["N028603"]}],"id":[{"id":"10.13039\/100002427","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2025,3]]},"abstract":"<jats:p>\n                    Conventional cameras employed in autonomous vehicle (AV) systems support many perception tasks but are challenged by low-light or high dynamic range scenes, adverse weather, and fast motion. Novel sensors, such as event and thermal cameras, offer capabilities with the potential to address these scenarios, but they remain to be fully exploited. This paper introduces the Novel Sensors for Autonomous Vehicle Perception (NSAVP) dataset to facilitate future research on this topic. The dataset was captured with a platform including stereo event, thermal, monochrome, and RGB cameras as well as a high precision navigation system providing ground truth poses. The data was collected by repeatedly driving two \u223c8\u00a0km routes and includes varied lighting conditions and opposing viewpoint perspectives. We provide benchmarking experiments on the task of place recognition to demonstrate challenges and opportunities for novel sensors to enhance critical AV perception tasks. To our knowledge, the NSAVP dataset is the first to include stereo thermal cameras together with stereo event and monochrome cameras. The dataset and supporting software suite is available at\n                    <jats:ext-link xmlns:xlink=\"http:\/\/www.w3.org\/1999\/xlink\" ext-link-type=\"uri\" xlink:href=\"https:\/\/umautobots.github.io\/nsavp\">https:\/\/umautobots.github.io\/nsavp<\/jats:ext-link>\n                    .\n                  <\/jats:p>","DOI":"10.1177\/02783649241273554","type":"journal-article","created":{"date-parts":[[2024,9,7]],"date-time":"2024-09-07T00:59:04Z","timestamp":1725670744000},"page":"355-365","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":16,"title":["Dataset and Benchmark: Novel Sensors for Autonomous Vehicle Perception"],"prefix":"10.1177","volume":"44","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-4909-4311","authenticated-orcid":false,"given":"Spencer","family":"Carmichael","sequence":"first","affiliation":[{"name":"Robotics Department, University of Michigan, Ann Arbor, MI USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Austin","family":"Buchan","sequence":"additional","affiliation":[{"name":"Robotics Department, University of Michigan, Ann Arbor, MI USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9278-3625","authenticated-orcid":false,"given":"Mani","family":"Ramanagopal","sequence":"additional","affiliation":[{"name":"Robotics Department, University of Michigan, Ann Arbor, MI USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7673-7012","authenticated-orcid":false,"given":"Radhika","family":"Ravi","sequence":"additional","affiliation":[{"name":"Robotics Department, University of Michigan, Ann Arbor, MI USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1978-0572","authenticated-orcid":false,"given":"Ram","family":"Vasudevan","sequence":"additional","affiliation":[{"name":"Robotics Department, University of Michigan, Ann Arbor, MI USA"},{"name":"Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4775-5040","authenticated-orcid":false,"given":"Katherine A","family":"Skinner","sequence":"additional","affiliation":[{"name":"Robotics Department, University of Michigan, Ann Arbor, MI USA"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2024,9,6]]},"reference":[{"key":"e_1_3_5_2_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364920961451"},{"key":"e_1_3_5_3_1","doi-asserted-by":"publisher","DOI":"10.1109\/CVPRW.2019.00205"},{"key":"e_1_3_5_4_1","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2016.572"},{"key":"e_1_3_5_5_1","volume-title":"DDD17: End-To-End DAVIS Driving Dataset","author":"Binas J","year":"2017","unstructured":"Binas J, Neil D, Liu SC, et al. (2017) DDD17: End-To-End DAVIS Driving Dataset. Ithaca, New York: arXiv preprint arXiv:1711.01458."},{"key":"e_1_3_5_6_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2021.3075644"},{"key":"e_1_3_5_7_1","volume-title":"Spot: Point Cloud Based Stereo Visual Place Recognition for Similar and Opposing Viewpoints","author":"Carmichael S","year":"2024","unstructured":"Carmichael S, Agrawal R, Vasudevan R, et al. (2024) Spot: Point Cloud Based Stereo Visual Place Recognition for Similar and Opposing Viewpoints. Ithaca, New York: arXiv preprint."},{"key":"e_1_3_5_8_1","doi-asserted-by":"publisher","DOI":"10.1109\/CVPRW59228.2023.00419"},{"key":"e_1_3_5_9_1","first-page":"1","article-title":"ECMD: an event-centric multisensory driving dataset for SLAM","volume":"9","author":"Chen P","year":"2023","unstructured":"Chen P, Guan W, Huang F, et al. (2023) ECMD: an event-centric multisensory driving dataset for SLAM. IEEE Transactions on Intelligent Vehicles 9: 1\u201310.","journal-title":"IEEE Transactions on Intelligent Vehicles"},{"key":"e_1_3_5_10_1","doi-asserted-by":"publisher","DOI":"10.1109\/CVPRW.2019.00210"},{"key":"e_1_3_5_11_1","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2018.2791533"},{"key":"e_1_3_5_12_1","volume-title":"A Large Scale Event-Based Detection Dataset for Automotive","author":"De Tournemire P","year":"2020","unstructured":"De Tournemire P, Nitti D, Perot E, et al. (2020) A Large Scale Event-Based Detection Dataset for Automotive. Ithaca, New York: arXiv preprint arXiv:2001.08499."},{"key":"e_1_3_5_13_1","doi-asserted-by":"publisher","DOI":"10.3390\/s23073479"},{"key":"e_1_3_5_14_1","doi-asserted-by":"publisher","DOI":"10.1109\/TIV.2022.3158094"},{"key":"e_1_3_5_15_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.3025505"},{"key":"e_1_3_5_16_1","doi-asserted-by":"publisher","DOI":"10.1109\/WACV57701.2024.00295"},{"key":"e_1_3_5_17_1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2013.6696514"},{"key":"e_1_3_5_18_1","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2020.3008413"},{"key":"e_1_3_5_19_1","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2018.XIV.022"},{"key":"e_1_3_5_20_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3068942"},{"key":"e_1_3_5_21_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913491297"},{"key":"e_1_3_5_22_1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8206396"},{"key":"e_1_3_5_23_1","doi-asserted-by":"publisher","DOI":"10.1109\/ECMR50962.2021.9568811"},{"key":"e_1_3_5_24_1","doi-asserted-by":"publisher","DOI":"10.1109\/ECMR59166.2023.10256407"},{"key":"e_1_3_5_25_1","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC45102.2020.9294515"},{"key":"e_1_3_5_26_1","doi-asserted-by":"publisher","DOI":"10.1109\/CVPRW53098.2021.00144"},{"key":"e_1_3_5_27_1","volume-title":"A Review and Comparative Study of Close-Range Geometric Camera Calibration Tools","author":"Huai J","year":"2023","unstructured":"Huai J, Zhuang Y, Shao Y, et al. (2023) A Review and Comparative Study of Close-Range Geometric Camera Calibration Tools. Ithaca, New York: arXiv preprint arXiv:2306.09014."},{"issue":"5","key":"e_1_3_5_28_1","first-page":"829","article-title":"Tight integration of GNSS post-processed virtual reference station with inertial data for increased accuracy and productivity of airborne mapping","volume":"37","author":"Hutton J","year":"2008","unstructured":"Hutton J, Ip A, Bourke T, et al. (2008) Tight integration of GNSS post-processed virtual reference station with inertial data for increased accuracy and productivity of airborne mapping. Remote Sensing and Spatial Information Sciences 37(B5): 829\u2013834.","journal-title":"Remote Sensing and Spatial Information Sciences"},{"key":"e_1_3_5_29_1","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2015.7298706"},{"key":"e_1_3_5_30_1","doi-asserted-by":"publisher","DOI":"10.1117\/12.2519423"},{"key":"e_1_3_5_31_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3168335"},{"key":"e_1_3_5_32_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9197277"},{"key":"e_1_3_5_33_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2015.2496823"},{"key":"e_1_3_5_34_1","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1987.1087097"},{"key":"e_1_3_5_35_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2012.6224623"},{"key":"e_1_3_5_36_1","doi-asserted-by":"publisher","DOI":"10.3390\/s150613851"},{"key":"e_1_3_5_37_1","first-page":"1","article-title":"MA-VIED: a multisensor automotive visual inertial event dataset","volume":"99","author":"Mollica G","year":"2023","unstructured":"Mollica G, Felicioni S, Legittimo M, et al. (2023) MA-VIED: a multisensor automotive visual inertial event dataset. IEEE Transactions on Intelligent Transportation Systems 99: 1\u201311.","journal-title":"IEEE Transactions on Intelligent Transportation Systems"},{"key":"e_1_3_5_38_1","doi-asserted-by":"publisher","DOI":"10.1109\/CVPRW53098.2021.00155"},{"key":"e_1_3_5_39_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5979561"},{"key":"e_1_3_5_40_1","first-page":"16639","volume-title":"Advances in Neural Information Processing Systems","author":"Perot E","year":"2020","unstructured":"Perot E, de Tournemire P, Nitti D, et al. (2020) Learning to detect objects with a 1 megapixel event camera. In: Advances in Neural Information Processing Systems. Curran Associates, Inc., Vol. 33, 16639\u201316652."},{"key":"e_1_3_5_41_1","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2019.2963386"},{"key":"e_1_3_5_42_1","doi-asserted-by":"publisher","DOI":"10.1109\/CVPRW.2019.00215"},{"key":"e_1_3_5_43_1","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52729.2023.00107"},{"key":"e_1_3_5_44_1","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2018.00186"},{"key":"e_1_3_5_45_1","doi-asserted-by":"publisher","DOI":"10.1080\/17686733.2017.1319529"},{"key":"e_1_3_5_46_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-031-19830-4_20"},{"key":"e_1_3_5_47_1","doi-asserted-by":"publisher","DOI":"10.1145\/3126686.3126727"},{"key":"e_1_3_5_48_1","unstructured":"Teledyne FLIR (2018) Teledyne FLIR thermal dataset for algorithm training. Available at: https:\/\/www.flir.com\/oem\/adas\/adas-dataset-form\/"},{"key":"e_1_3_5_49_1","doi-asserted-by":"publisher","DOI":"10.1364\/JOSAA.20.000470"},{"key":"e_1_3_5_50_1","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2020.2982539"},{"key":"e_1_3_5_51_1","doi-asserted-by":"crossref","unstructured":"Ursine W Calado F Teixeira G et al. (2012) Thermal\/visible autonomous stereo visio system calibration methodology for non-controlled environments. In: 11th International Conference on Quantitative Infrared Thermography Naples Italy 11-14 Jun 2012 1\u201310.","DOI":"10.21611\/qirt.2012.261"},{"key":"e_1_3_5_52_1","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR46437.2021.01144"},{"key":"e_1_3_5_53_1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS45743.2020.9341192"},{"key":"e_1_3_5_54_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.infrared.2018.11.007"},{"key":"e_1_3_5_55_1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS47612.2022.9981857"},{"key":"e_1_3_5_56_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.patcog.2020.107760"},{"key":"e_1_3_5_57_1","volume-title":"NTU4DRadLM: 4D Radar-Centric Multi-Modal Dataset for Localization and Mapping","author":"Zhang J","year":"2023","unstructured":"Zhang J, Zhuge H, Liu Y, et al. (2023a) NTU4DRadLM: 4D Radar-Centric Multi-Modal Dataset for Localization and Mapping. Ithaca, New York: arXiv preprint arXiv:2309.00962."},{"key":"e_1_3_5_58_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.isprsjprs.2022.12.021"},{"key":"e_1_3_5_59_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2800793"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/02783649241273554","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.1177\/02783649241273554","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/02783649241273554","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:17:32Z","timestamp":1777457852000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/02783649241273554"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,9,6]]},"references-count":58,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2025,3]]}},"alternative-id":["10.1177\/02783649241273554"],"URL":"https:\/\/doi.org\/10.1177\/02783649241273554","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2024,9,6]]}}}