By requesting access to this dataset, you confirm that you have read and agree to the dataset license (CC BY-NC 4.0) and the additional usage terms below. Access is provided only under these conditions.

You agree to:

Use the dataset in compliance with the CC BY-NC 4.0 license (non-commercial use only)
Use the dataset for research, development, and safety-related purposes
NOT use the dataset for military, surveillance, or related applications
NOT use the dataset in ways that could cause harm to individuals or society
Respect all applicable laws and regulations
Cite both CARD and CALM (see Citation below) in any resulting work

CALM – Italy

Comfort-labeled speed bump crossings from Italian roads: Nardò, Carmiano, Monteroni di Lecce, and Salice Salentino. Each crossing comes with camera frames, sensor data, trajectory, and a recommended crossing speed for ride comfort, meant for training and evaluating speed planning around road bumps.

The compact per-crossing scenario data (bump position/height/width, speed profile) and the camera-detection model live in CALM-Scenarios.

Structure

<crossing>/
├── img/
│   ├── cam_0/                            camera frames
│   └── cam_1/
├── agg_depth/
│   └── cam_1/                            aggregated depth maps
├── labels/                               per-frame bump detection labels
├── raw/
│   ├── gnss.ubx                          raw GNSS log
│   └── data.pcap                         raw sensor packet capture
├── export/
│   ├── output.laz                        raw point cloud
│   ├── output.laz.index.json             point cloud scan index
│   ├── wheel_excitement.json             wheel-height signal
│   ├── output.laz.trajectory.json        car pose/trajectory
│   └── output.laz.sensor_export.json     other sliced sensor channels
├── comfort_profiles/
│   ├── ppo.json                          recommended crossing speed (PPO agent)
│   └── mpc.json                          recommended crossing speed (MPC baseline)
└── meta.yaml

Dataset Statistics

45 windows across 4 areas.

area	windows
carmiano	15
nardo	11
monteroni_di_lecce	7
salice_salentino	12

Bump height: 0.03–0.083m. Bump width: 1.5–4.0m.

A full per-window breakdown (area, sb_count, span, content counts, laz/pcap availability) is in manifest.json at the repo root. Bump height/width/confidence live in the full manifest in CALM-Scenarios.

License

CC BY-NC 4.0, same as CARD-Italy. Non-commercial use only.

Citation

Please cite both CARD (the source sequences) and CALM (this extension).

@inproceedings{elazab2025card,
  title     = {CARD: A Multi-Modal Automotive Dataset for Dense 3D Reconstruction in Challenging Road Topography},
  author    = {Elazab, Gasser and Neuhaus, Frank and Ko{\ss}, Tilman and Splietker, Malte and Date, Aditya and Unterreiner, Michael and Jansen, Maximilian and Hellwich, Olaf},
  booktitle = {Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
  year      = {2026}
}

@misc{calm_dataset,
  title  = {CALM: Comfort-Aware Longitudinal Motion Planning},
  author = {Mohammed S. Azab Abdelazim},
  year   = {2026},
  url    = {https://huggingface.co/CALM-Dataset}
}

Credit

Built on the CARD dataset by Gasser Elazab and the CARIAD team.

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