This dataset was recorded for vehicle localization.
The Renault Zoé vehicle which served for experiments is equipped with:
Ground truth vehicle pose data is recorded with a Novatel Span RTK system.
The camera is used for lateral distance measurements, from the camera frame, to the detected road lane-markings.
An HD map containing road lane-markings is available in JSON format.
The user guide of this dataset can be found in the link: https://cloud.utc.fr/s/QdgeJyfX53yat8G