This dataset contains a collection of rasterized and graph based global plan representations and local semantic maps. The data corresponds to intersection navigation scenarios with three-way and four-way intersections capturing similar semantics but with different global plans. Additional details can be found in the publication lister below.

Paz, D., Xiang, H., Liang, A., Christensen, H. TridentNetV2: Lightweight Graphical Global Plan Representations for Dynamic Trajectory Generation. In International Conference on Robotics and Automation (Philadelphia, May 2022)

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