The Boreas Road Trip (Boreas-RT) dataset extends the multi-season Boreas dataset to new and diverse locations that pose challenges for modern autonomous driving algorithms. Boreas-RT comprises 60 sequences collected over 9 real-world routes, totalling 643 km of driving. Each route is traversed multiple times, enabling evaluation in identical environments under varying traffic and, in some cases, weather conditions. The data collection platform includes a 5MP FLIR Blackfly S camera, a 360 degree Navtech RAS6 Doppler-enabled spinning radar, a 128-channel 360 degree Velodyne Alpha Prime lidar, an Aeva Aeries II FMCW Doppler-enabled lidar, a Silicon Sensing DMU41 inertial measurement unit, and a Dynapar wheel encoder. Centimetre-level ground truth is provided via post-processed Applanix POS LV GNSS-INS data. The dataset includes precise extrinsic and intrinsic calibrations, a publicly available development kit, and a live leaderboard for odometry and metric localization. Benchmark results show that many state-of-the-art odometry and localization algorithms overfit to simple driving environments and degrade significantly on the more challenging Boreas-RT routes. Boreas-RT provides a unified dataset for evaluating multi-modal algorithms across diverse road conditions. The dataset, leaderboard, and development kit are available at www.boreas.utias.utoronto.ca.

翻译：Boreas公路之旅（Boreas-RT）数据集将多季节Boreas数据集扩展至全新且多样化的地点，这些地点对现代自动驾驶算法构成了挑战。Boreas-RT包含在9条真实世界路线上采集的60个序列，总计行驶里程643公里。每条路线均被多次遍历，使得能够在相同环境下评估不同交通状况以及（部分情况下）不同天气条件下的算法表现。数据采集平台包括一台500万像素FLIR Blackfly S相机、一台360度Navtech RAS6多普勒旋转雷达、一台128通道360度Velodyne Alpha Prime激光雷达、一台Aeva Aeries II FMCW多普勒激光雷达、一台Silicon Sensing DMU41惯性测量单元以及一台Dynapar轮式编码器。通过后处理的Applanix POS LV GNSS-INS数据提供厘米级真值标注。该数据集包含精确的外参与内参标定、公开可用的开发工具包，以及用于里程计与度量定位的实时排行榜。基准测试结果表明，许多先进的里程计与定位算法在简单驾驶环境中存在过拟合现象，而在更具挑战性的Boreas-RT路线上性能显著下降。Boreas-RT为评估多模态算法在多样化道路条件下的表现提供了统一数据集。数据集、排行榜及开发工具包可通过www.boreas.utias.utoronto.ca获取。